A Piezoelectric Ultrasonic Clamp for Force Feedback Arm

This paper presents a novel piezoelectric ultrasonic clamp with one cantilever tetragonal prism and one force feedback arm based on ultrasonic vibration principle. Four piezoelectric ceramics are pasted on the top, bottom, left and right of the cantilever tetragonal prism, which will excite the second-order bending ultrasonic resonance between up-down and left-right directions. Verified by experiment, the feedback force which can be controlled by adjusting the voltage amplitude or the voltage ratio between up-down and left-right directions of voltages applied to the piezoelectric ceramics is about 0~3N and capable of smooth transition. The ultrasonic clamp is small in dimension, light in weight and the prototype dimension is 14mm 14mm 50mm. It is indicated that the ultrasonic clamp is a good force feed-back actuator which is the critical component to stimulate human's force feeling used for virtual reality interactions.