An original modeling of a traveling-wave ultrasonic motor is established in order to provide a new torque control law for this category of actuators. In particular, self-driving is implemented, avoiding the classical drawbacks of frequency control, i.e., pull-out phenomenon. With such a robust control, force feedback application is available. Experimental results are obtained on an active haptic stick.
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Giraud et al. (2004) studied this question.
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