Force feedback operations with a Traveling Wave Ultrasonic Motor Zheng Dai1 Frédér ic Giraud Bet ty Lemaire-semai l

This article presents basic force feedback operations with a travelling Wave Ultrasonic Motor. First, we show how to simulate low stiffness springs. Then, we propose a new method to simulate walls that profits from the holding torque of TWUM. Experimental results are presented on a 1dof test device