A Two-register Haptic Interface For Articulated Control Of Harpsichord Physical Models

A two-register haptic interface is presented for the articu- lated control of physically modelled harpsichord sounds. While physical modelling synthesis affords realism and nuance, standard MIDI-based controllers lack the resolu- tion to capture the fine temporal detail required for histor- ically informed keyboard performance. A custom three- key harpsichord mechanism was commissioned from an expert builder, and augmented with optical and force- sensitive sensors to track independent jack displacements per register. These data inform a real-time nonlinear string synthesis engine, enabling control over subtle inter- register plucking delays characteristic of historical instru- ments. The interface supports velocity-sensitive artic- ulation across registers and integrates with a real-time software model employing modal energy-preserving tech- niques. The system reintroduces key expressive features absent from sample-based approaches, offering a viable solution for high-fidelity digital reconstruction of early keyboard gestures