The type of keyboard should be irrelevant, assuming the MIDI connection is over 5-pin DIN rather than USB. The problem is most likely with the interface driver. As a discontinued model, it's unlikely there will be a Win 10 driver for the US-144.
 
Fortunately, there are several inexpensive alternatives. The least-expensive solution, as suggested above, would be picking up a dedicated MIDI interface. Both Roland and M-Audio offer one-port MIDI interfaces for $39. That's assuming the audio portion of the Tascam is performing OK, of course.
 

If USB MIDI latest drivers should be here:
http://www.yamahaproaudio..._software/mididrivers/

As noted above, you can get a very cheap MIDI interface for your computer. A 2x2 should cost very little.
 
Once you have the interface set up, you need to go into Preferences to make sure it's recognized/listed there.
 
When you want to send MIDI to a Track, go into Track Inspector and ensure your interface is selected as the INPUT.  It should say something like "MIDISPORT 2x2 IN A" depending on the name of your interface and which port on it you are using.  It could have just one port, two, four, eight, or whatever.  In that same place, you can click on that selection to pick the MIDI Channel.
 
Just a note, you can get a very small keyboard from Akai or other makers that will have a USB interface and it will basically just be plug-and-play.  Of course, these inexpensive ones have short keyboards, but that may work for you.