@inproceedings{oai:muroran-it.repo.nii.ac.jp:00006922,
 author = {武村, 剛志 and TAKEMURA, Tsuyoshi and 秋庭, 啓次郎 and AKIBA, Keijiro and 青柳,  学 and AOYAGI, Manabu and 高野, 剛浩 and TAKANO, Takehiro and 田村,  英樹 and TAMURA, Hideki and 富川, 義朗 and TOMIKAWA, Yoshiro},
 book = {精密工学会大会学術講演会講演論文集},
 issue = {1},
 month = {},
 note = {application/pdf, 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.},
 pages = {613--614},
 publisher = {精密工学会},
 title = {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},
 volume = {2009},
 year = {2009},
 yomi = {タケムラ, ツヨシ and アキバ, ケイジロウ and アオヤギ, マナブ and タカノ, タケヒロ and タムラ, ヒデキ and トミカワ, ヨシロウ}
}