The piano relies on complex transmission mechanisms - called 鈥渁ction鈥� - 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 (S茅bastien 脡rard, 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.
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