We ha ve successfully developed a new artificial arm for physically handicapped people by use of ultrasonic motors. The ultrasonic motor has a lot of advantages: high torque; low speed; no braking mechanism; no magnetic noise. Especially, aspherical ultrasonic motor has three degrees of freedom in one unit which is similar to the joint of human being's.Then we have attempted to apply a spherical ultrasonic moto to a joint of wrist of an artificial arm. In addition that, we have newly developed a high output torque type of ultrasonic motor for an elbow joint and a shoulder joint. The artificial arm by use of ultrasonic motor shows good maneuverability and excellent controllability.