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The main difference between a piano and a keyboard is the auto accompaniment function.
This function enables you to automatically play a complete accompaniment in a populair style or a classical orchestra. But you can use a keyboard as a digital piano as well.
Pimba doesn’t use the accompaniment function.
You can feel another difference between a piano and a keyboard by playing it. The touch of a piano usually is a heavier than the touch of a keyboard. You need to press a bit harder. That may sound more difficult, but many people prefer this touch.
A grand piano and an upright piano are actually not that different. A grand piano is larger, and therefore often sounds a bit fuller. But that doesn’t mean a grand piano is always better than an upright piano. Better a good piano than a bad grand!