Vibration Control and Preliminary Evaluation of a Piezoelectric Actuator for Use as a Force-Feedback Device

Vibration Control and Preliminary Evaluation of a Piezoelectric Actuator for Use as a Force-Feedback Device

Gaston M’boungui Betty Lemaire-Semail Frederic Giraud 

Department of Electrical Engineering Tshwane University of Technology Private bag 7680, Pretoria 0001, Republic of South Africa

Laboratoire d’Électrotechnique et d’Électronique de Puissance de Lille Université Lille 1 IRCICA, 50 av. Halley, 59650 Villeneuve d’Ascq, France

14 September 2012
| |
25 March 2013
| | Citation



As a solution to cope with the lack of compactness and simplicity often encountered in haptic interfaces, we propose a device based on friction coefficient control principle. This device includes polarised piezoceramics well adjusted and glued to a 64x38x3 mm copper-beryllium plate supported by four legs. Then, properly energised around a resonant frequency, with legs at antinodes, a stationary wave is created in the plate. Variable friction forces between the legs and the plane substrate are created by the control of the wave amplitude, according to electro-active lubrication. So the user obtains force feedback by holding the plate, and moving it on a plane substrate, as he could do with a mouse interface. Preliminary psychophysical evaluation trends to assess the validity of the device as a force feedback interface.


piezoelectric actuator, haptic, electro-active lubrication

1. Introduction
2. Device
3. Operating Principle
4. Stick/Slip Generation Condition
5. Variation of Normal and Tangential Forces
6. Control of the Vibration Amplitude
7. Experimental Set-up
8. Preliminary Device Evaluation
9. Task and Stimuli
10. Psychophysical Results
11. Discussion
12. Conclusion

Biet M., Casiez G., Giraud F., Lemaire-Semail B. (2008). Discrimination of Virtual Square Gratings by Dynamic Touch on Friction Based Tactile Displays. Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems 2008, 13-14 March, Reno, Nevada, USA.

Casiez G., Plenacoste P., Chaillou C., Semail B. (2003). Elastic Force Feedback With a New Multi-finger Haptic Device: The DigiHaptic, Eurohaptics.

Desai C.S., Zaman M.M. and Drum E.C. (1985). Cyclic Testing and Modelling of Interface. J. of Geotech. Eng. vol. 111, p. 793-815.

Garbuio L., Rouchon J.F. (2006). Piezoelectric Thrust Bearing For Severe Environments, Actuator 2006, 10th International Conference On New Actuators, 14-16 June, Bremen, Germany, p.185-188

Le Moal P., Joseph E. Ferniot J.C. (2000). Mechanical energy transductions in standing wave ultrasonic motors: analytical modelling and experimental investigations. European Journal or Mechanics A/Solids, vol. 19, p. 849-871.

Pawluk D., Howe R. (1996), A Holistic Model Of Human Touch. Submitted to the 5th Annual C.N.S. Meeting, Boston, MA.

Piecourt E., Lajoie Mazenc M. (1995). Electromechanical characterization and power supply of piezoelectric motors, PhD thesis, Institut national polytechnique de Toulouse, Toulouse, France, n° 95 INPT 0102, 1995.

Pigache F., Giraud F., Lemaire-Semail B. (2006). Modelling and identification of a planar standing wave ultrasonic motor. Identification of a planar actuator. Eur. Phys. J. Appl. Phys. 34, p. 55-65.

Pigache F., Lemaire-Semail B., Giraud F., Bouscayrol A. (2005). Control of a piezo-electric actuator for adjustable brake in haptic devices. EPE’05, DRESDE, 11-14 September, CD-ROM ISBN 90-75815-08-05

Samur E., Wang F., Spaetler U. and Bleuler H. (2007). Generic and systematic Evaluation of Haptic Interfaces Based on Testbeds, Proc. Of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29-Nov 2.

Watanabe T., Fukui S. (1995). A method for controlling tactile sensation of surface roughness using ultrasonic vibration, IEEE Int. Conf. on Robotics and Automation, p. 1134-1139.

West A. M., Cutkosky M.R. (2003). Detection of real and virtual fine surface features with a haptic interface and stylus, ASME IMECE 6th Annual Symposium on Haptic Interfaces, Dallas, TX, November.

Winfield L., Glassmire J., Colgate J. E., Peshkin M. (2007). T-PaD: Tactile Pattern Display through Variable Friction Reduction, Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC’07).