I was fortunate to be able to attend a short concert of Medieval Music in Skipton Castle. The musicians, Marco Cannavo on the right and Steve Tyler on the left, were proficient in a wide range of rather complicated-looking instruments. The tunes were rhythmic and mostly quite stately - suitable, I suppose, for dancing. We just lacked a banquet and (me) appropriate clothes!
In the photo above, Steve is playing a hurdygurdy, which (Google says) is a stringed instrument that produces sound by means of a hand-cranked rosined wheel that rubs against the strings. The wheel functions much like a violin bow, and single notes played on the instrument sound similar to those of a violin. Melodies are played on a keyboard that presses tangents—small wedges, typically made of wood or metal—against one or more of the strings to change their pitch. Like most other acoustic stringed instruments, it has a sound board and hollow cavity to make the vibration of the strings audible.
In the photo below, Marco has a portative organ, a popular instrument from the 12th to the 16th century, that uses sheepskin and wood bellows, a keyboard and pipes to produce a flute-like sound.
I'm not 100% sure of the name of these small guitar-like instruments but they are possibly called citoles.
Here Steve is playing a small Gothic harp.
And the hurdygurdys again:
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