Markus Flueckiger

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We are developing haptic interfaces compatible with functional magnetic resonance imaging (fMRI) for neuroscience studies. The presented prototype with one rotary degree of freedom is actuated by a traveling wave ultrasonic motor operating under admittance control. Torque is sensed from the deflection of an elastic polymer probe via light intensity(More)
This paper discusses progress in designing a standardized interface for speech interaction with simple machines – the Universal Speech Interface (USI) project. We discuss the motivation for such a design and issues that must be addressed by such an interface. We present our current proposals for handling these issues, and comment on the usability of these(More)
—The properties of ultrasonic piezoelectric motors depend on applied load and temperature. The output behaviour is characterized by the nonlinearity of the power transmission at the friction interface between stator and rotor. Because of these inherently nonlinear characteristics, a resonant frequency tracking control is imperative for some particular(More)
Ultrasonic motors are a good alternative to electromagnetic motors in medical robotics, since they are electromagnetically compatible. Estimating speed instead of using encoders reduces cost and dimension of the robot on the one hand and increases reliability on the other hand. However, no sensorless speed controller is yet industrialized. Analytical models(More)
—Piezoelectric ultrasonic motors are superior to electromagnetic micro motors, because their efficiency remains theoretically constant during miniaturization. However, the still relatively recent technology has a considerable unexploited optimization potential. Numerical structural analysis by the means of the finite element method (FEM) is a common(More)
This paper addresses the design of a door lock mechanism actuated by a rotary ultrasonic motor featuring a sensorless rotor position detection method based on angular admittance modulation. Electronic door lock cylinders need some sort of mechanical actuator to toggle the locking state between open and closed. The main requirements are high security(More)
—Piezoelectric ultrasonic motors are superior to electromagnetic micromotors, because their efficiency remains theoretically constant during miniaturization. However, the still relatively recent technology has a considerable unexploited optimization potential. Numerical structural analysis by the means of the finite element method (FEM) is a common approach(More)
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