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The Integrated Actuators Laboratory (LAI) of the Swiss Federal Institute of Technology Lausanne (EPFL) has been developping for several years a force feedback keyboard which is able to imitate the touch of the piano, the harpsichord and the organ. The development is based on the force feedback key principle. When the key goes down, the magnet that is placed to the rear gets closer to the Hall effect sensor. The electrical signal produced is transmitted to the controller. Depending on the desired force feedback model, the signal is processed and sent to the actuator as a pulse width modulation signal. Considering the presence of a magnetic field, the coil current causes the force feedback.