Publication at 17th Sound and Music Computing Conference, Torino, 24th - 26th June 2020. We present news developments and their integration within the ACROE’s Hélicanthe creative workstation, improving the concepts and technologies previously implemented: CORDIS-ANIMA formalism, GENESIS software and TELLURIS station for interactive multisensory simulation of physical objects, with ACROE’s haptic systems. We present then : 1) the new prototype of the 4th generation of GENESIS to model for real time with force feedback systems. 2) a new principle of gestural emulation allowing, in the absence of force feedback devices and in non real time, to design physics-based instruments models to be simulated on real time platforms equipped with TGRs. Finally we illustrate through the musical artwork Quetzalcoatl (Cadoz, 2018) new ways of musical dialogues: (i) between real gestures and emulated ones; (ii) between several instrumentalists playing on two coupled TGRs.