Development of the Rehabilitation Ultrasonic Motor using High-speed Microscope

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We build a mechanical model with the amplitude of the elliptical motion generated in ultrasonic motors to predict the motor output such as torque and revolution. The high-speed camera with high-power lens that can observe the elliptical motion verifies how the elliptical motion relates the motor output experimentally. Such modeling approach is useful for control of the motor output such as the rotational speed and torque. Torque control and backdrivability, important characteristics in the view of human-machine interface, is examined in a robot system with original motor driver.