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There was a first instrument that lead to the dulcimer which lead to the clavichord which lead to the piano. All that is known about this instrument is that it was a string instrument.
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The Dulcimer is introduced to music, with the same mechanisms the piano will one day have.
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The clavichord is introduced. The clavichord was one of the first instruments to use a keyboard and was a monumental step toward the invention of the piano. The clavichord used rods to strike and vibrate strings.
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The harpsichord looks and sounds like the piano. The only difference is the lack of keys.
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Bartolomeo Cristofori invented the first piano to solve the lack of volume control he had with pianos.
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As the years have gone by, pianos have gotten better and better, with better tuning.