The design of a virtual keyboard, capable of reproducing the tactile feedback of several musical instruments is reported. The key is driven by a direct drive motor, which allows friction free operations. The force to be generated by the motor is calculated in real time by a dynamic simulator, which contains the model of mechanisms’ components and constraints. Each model is tuned on the basis of measurements performed on the real system. So far, grand piano action, harpsichord and Hammond organ have been implemented successfully on the system presented here.