Design and control of an ultrasonic surface haptic device for longitudinal and transverse mode comparison

The design and closed loop control of a device able to produce both longitudinal mode transverse vibration, at about the same resonance frequency (60 kHz) are presented in this article. structure uses an array piezo-ceramics. A dynamic analysis is performed on obtained modes, their lumped parameters identified. maintain desired vibration amplitude presence finger. Longitudinal motion cartographies show that objective achieving controlling pure modes independently has been achieved. Using device, tribological, psychophysical energetic analyses carried out. terms friction measurements perception, equivalent results. In active power losses, advantage over observed due interaction with