[LAU] Automatic sampling from MIDI sequencer

Hello. I have a number of keyboards and a dedicated MIDI sequencer box which I would like to sample sounds from and make into soundfonts. I want to sample ALL of the notes because I'm fed up with all these half-baked soundfonts which sound awful on notes which haven't been sampled. All the devices are MIDI capable so instead of me manually hitting all the keys, which will take ages, is there a program which will let me connect up the midi out on my laptop to midi in on the device, and the audio out on the device to the audio in on my laptop and then automatically get all the samples (or better yet make the whole soundfont) for me? Thanks in advance. Simon