The piano relies on complex transmission mechanisms - called “action” - since their first appearance in the early 18th century (Cristofori's invention of the forte piano). Thanks to Robotran, it has been possible to understand how these highly dynamic actions work, in order to
1) explain the functioning of the double escapement action (Sébastien Érard, 1821) which equips modern grand pianos;
2) explain the dynamic behavior and limitation of Viennese actions (Stein and Walter, 18th century);
3) create a haptic feedback to enhance the touch of digital piano keyboards, through a virtual action simulated in real time by Robotran.
For more details, follow this link.