In this study, PIC16F628 microcontroller-based control of a traveling-wave ultrasonic motor has been implemented. A drive system including ower supply, power electronic drives, and interface electronic circuits have been designed. The microcontroller has been integrated with drive ystem to achieve overall control of ultrasonic motor. Microcontroller generates start/stop, direction, and speed/po...

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A novel multi-fingered exoskeleton haptic device using passive force feedback has been proposed by the authors. The haptic device solves the conventional problems of previously developed master-slave systems with force feedback, such as oscillations, complex structures and complicated control algorithm. However, some problems still remain in the conventional passive elements. In the present pap...