In the case of using an ultrasonic motor (USM) to a haptics as the actuator for a force-feedback interface, however, an ordinal USM hasn’t the state of torque free that gives a user no feeling, because a stator vibrator is preloaded to a rotor or slider and a braking force always occurs. Therefore, an ultrasonic actuator with clutch function, which can electrically control a preload, was developed in this study. Some virtual feelings were presented to a user by controlling a preload and the thrust of USM. As a result, this ultrasonic actuator was able to reproduce realistic feelings of hardness and roughness on a virtual object effectively. On the other hand, it was difficult to reproduce the feeling of softness on a virtual object, because a thrust of this ultrasonic actuator was small.
クラッチ機能を備えた超音波アクチュエータの構成（第4報）力触覚提示への応用の試み
symjspe2009S_613_2009.pdf
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