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No, the first true pianos appeared around 1700 in Italy (well into the modern era). The basic technology for pianos had been around much longer, but nobody took that final step of creating a mechanical string-plucking keyboard system.

In the medieval period there were stringed dulcimers plucked by hand (later played with a bow); there were both large and small bellows-operated organs with a keyboard (but no struck strings); there were huge organistra (hurdy-gurdies) played by two musicians, one turning a handle that rotated a disk against all the strings and another operating pegs that changed the notes played.

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