Modelling and Control of Piezoelectric Actuators

A video Showing the deformation of the stator of a Travelling Wave Ultrasonic Motor

A video Showing the unstability of an Ultrasonic Motor

Complex Phasors and Park Transformation in Ultrasonic Motors

"Causal modeling and identification of a travelling wave ultrasonic motor" The European Physical Journal - Applied Physics, Vol. 21, N°. 2, pages. 151-159, 2-2003

A video Showing an Ultrasonic Motor controlled in a rotating reference frame: unstability is removed

Stability and precision with Ultrasonic Motors

"Stability Analysis of an Ultrasonic Motor for a New Wave Amplitude Control" IEEE Transactions on Industry Applications, Vol. 45, N°. 4, pages. 1343-1350, 8-2009

Modelling of quasistatic actuators

Design of Tactile devices

A video Showing the effect of vibration on powder

Squeeze Film effect for tactile displays

"Implementation of tactile feedback by modifying the perceived friction The European Physical Journal - Applied Physics, Vol. 43, N°. 1, pages. 123-135, 7-2008

Design procedure of transparent tactile display

Design of a transparent tactile stimulator " Haptics Symposium (HAPTICS), 2012 IEEE, pages. 485 - 489, 3-2012

Design of force-feedback devices

a one-dof force-feedback device

"Modeling and Compensation of the Internal Friction Torque of a Travelling Wave Ultrasonic Motor " IEEE Transactions on Haptics, 7-2011,