S. Ghenna, F. Giraud, C. Giraud-audine, M. Amberg, and B. Lemaire, Vector control applied to a Langevin transducer, 2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe), pp.1-9, 2015.
DOI : 10.1109/EPE.2015.7309410

URL : https://hal.archives-ouvertes.fr/hal-01201885

S. Ghenna, F. Giraud, C. Giraud-audine, M. Amberg, and B. Lemaire, Modelling and control of a travelling wave in a finite beam, using multi-modal approach and vector control method, 2015 Joint Conference of the IEEE International Frequency Control Symposium & the European Frequency and Time Forum, pp.509-514, 2015.
DOI : 10.1109/FCS.2015.7138895

URL : https://hal.archives-ouvertes.fr/hal-01201877

S. Ghenna, F. Giraud, C. Giraud-audine, M. Amberg, and B. Lemaire, Modelling, identification and control of a Langevin transducer, 2015 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM), pp.1-6, 2015.
DOI : 10.1109/ECMSM.2015.7208676

URL : https://hal.archives-ouvertes.fr/hal-01201879

S. Ghenna and E. Vezzoli, Friction Modulation by Ultrasonic Travelling Wave, Journées des Jeunes Chercheurs en Génie Électrique, pp.1-6, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01201887

S. Ghenna, C. Giraud-audine, F. Giraud, M. Amberg, and B. Lemaire, Modal Superimposition for Multi-fingers Variable Friction Tactile Device, Haptics: Perception, Devices, Control, and Applications, pp.521-530, 2016.
DOI : 10.1007/978-3-319-42321-0_49

URL : https://hal.archives-ouvertes.fr/hal-01360917

S. Ghenna, F. Giraud, C. Giraud-audine, M. Amberg, and B. Lemaire, Preliminary design of a multi-touch ultrasonic tactile stimulator, 2015 IEEE World Haptics Conference (WHC), pp.31-36
DOI : 10.1109/WHC.2015.7177687

URL : https://hal.archives-ouvertes.fr/hal-01238296

S. Ghenna, E. Vezzoli, C. Giraud-audine, F. Giraud, M. Amberg et al., Enhancing Variable Friction Tactile Display using an ultrasonic travelling wave, IEEE Transactions on Haptics, vol.PP, issue.99, 2016.
DOI : 10.1109/TOH.2016.2607200

URL : https://hal.archives-ouvertes.fr/hal-01425156

N. Mehta, A Flexible Machine Interface, MASc, 1982.

K. Kin, M. Agrawala, and T. Derose, Determining the Benefits of Direct-touch, Bimanual, and Multifinger Input on a Multitouch Workstation, Proceedings of Graphics Interface, pp.119-124, 2009.

B. Banter, Touch screens and touch surfaces are enriched by haptic force-feedback. Information Display, pp.26-30, 2010.

Z. Dai, Actionneurs piézo-électriques dans des interfaces homme-machine à retour d'effort, 2009.

T. Zeng, Conception et Contrôle d'un périphérique dédié à la simulation couplée kinesthésique et tactile, 2012.

A. B. Vallbo and R. S. Johansson, Properties of cutaneous mechanoreceptors in the human hand related to touch sensation, Human Neurobiol, vol.3, pp.3-14, 1984.

D. T. Pawluk and R. D. Howe, A Holistic Model of Human Touch, pp.759-764, 1997.
DOI : 10.1007/978-1-4757-9800-5_118

K. O. Johnson and S. Hsiao, Neural Mechanisms of Tactual form and Texture Perception, Annual Review of Neuroscience, vol.15, issue.1, pp.227-50, 1992.
DOI : 10.1146/annurev.ne.15.030192.001303

K. A. Kaczmarek, J. G. Webster, P. Bach-y-rita, and W. J. Tompkins, Electrotactile and vibrotactile displays for sensory substitution systems, IEEE Transactions on Biomedical Engineering, vol.38, issue.1, pp.1-16, 1991.
DOI : 10.1109/10.68204

C. Lucarotti, C. M. Oddo, N. Vitiello, and M. C. Carrozza, Synthetic and Bio-Artificial Tactile Sensing: A Review, Sensors, vol.442, issue.2, pp.1435-1466, 2013.
DOI : 10.3390/s130201435

URL : http://doi.org/10.3390/s130201435

T. A. Kern, Engineering Haptic Devices. A Beginner's Guide for Engineers, pp.49-51, 2009.

H. Iwata, H. Yano, F. Nakaizumi, and R. Kawamura, Project FEELEX, Proceedings of the 28th annual conference on Computer graphics and interactive techniques , SIGGRAPH '01, pp.469-476, 2001.
DOI : 10.1145/383259.383314

J. Lee, I. Ahn, and J. Park, Design and implementation of tactile feedback device using electromagnetic type, IROS '99. Proceedings, pp.1549-1554, 1999.

M. Shinohara, Y. Shimizu, and A. Mochizuki, Three-dimensional tactile display for the blind, IEEE Transactions on Rehabilitation Engineering, vol.6, issue.3, pp.249-256, 1998.
DOI : 10.1109/86.712218

C. R. Wagner, S. J. Lederman, and R. D. Howe, A tactile shape display using RC servomotors, Proceedings 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. HAPTICS 2002, pp.354-355, 2002.
DOI : 10.1109/HAPTIC.2002.998981

M. Benali-khoudja, M. Hafez, and A. Kheddar, VITAL: An electromagnetic integrated tactile display, Displays, vol.28, issue.3, pp.133-144, 2007.
DOI : 10.1016/j.displa.2007.04.013

P. M. Taylor, A. Moser, and A. Creed, The design and control of a tactile display based on shape memory alloys, IEE Colloquium on Developments in Tactile Displays (Digest No, pp.1-1, 1997.

P. S. Wellman, W. J. Peine, G. Favalora, and R. D. Howe, Mechanical design and control of a high-bandwidth shape memory alloy tactile display, pp.56-66, 1998.
DOI : 10.1007/BFb0112950

R. Velazquez, E. E. Pissaloux, and M. Wiertlewski, A compact tactile display for the blind with shape memory alloys, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.3905-3910, 2006.
DOI : 10.1109/ROBOT.2006.1642300

M. Nakatani, H. Kajimoto, D. Sekiguohi, N. Kawakami, and S. Taohi, 3D Form Display with Shape Memory Alloy, Proc. of 13th International Conference on Artificial reality and Telexistcnce (ICAT), pp.179-184, 2003.
DOI : 10.3169/itej.60.183

M. Nakatani, H. Kajimoto, K. Vlack, D. Sekiguchi, N. Kawakami et al., Control Method for a 3D Form Display with Coil-type Shape Memory Alloy, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.1332-1337, 2005.
DOI : 10.1109/ROBOT.2005.1570300

N. Louam, Les fluides rhéologiques intelligents et leurs applications énergétiques et technico-industrielles, Revue des Energies Renouvelables, vol.16, issue.4, pp.641-656, 2013.

G. L. Kenaley and M. R. Cutkosky, Electrorheological fluid-based robotic fingers with tactile sensing, Proceedings, 1989 International Conference on Robotics and Automation, pp.132-136, 1989.
DOI : 10.1109/ROBOT.1989.99979

D. Wood, Editorial Tactile displays: present and future, Displays, vol.18, issue.3, pp.125-128, 1998.
DOI : 10.1016/S0141-9382(98)00012-2

G. J. Monkman, An Electrorheological Tactile Display, Presence: Teleoperators and Virtual Environments, vol.1, issue.2, pp.219-228, 1992.
DOI : 10.3758/BF03202084

P. M. Taylor, D. M. Pollet, A. Hosseini-sianaki, and C. J. Varley, Advances in an electrorheological fluid based tactile array, Displays, vol.18, issue.3, pp.135-141, 1998.
DOI : 10.1016/S0141-9382(98)00014-6

Y. Liu, R. Davidson, and P. Taylor, Touch sensitive electrorheological fluid based tactile display, Smart Materials and Structures, vol.14, issue.6, p.1563, 2005.
DOI : 10.1088/0964-1726/14/6/049

K. Fujita and H. Ohmori, A new Softness Display Interface by Dynamic Fingertip Contact Area Control, proc. 5th World Multiconference on Systemics, Cybernetics and Informatics, pp.78-82, 2001.

T. Kitazawa, F. Kimura, and A. Yamamoto, Multi-digit Softness: Development of a Tactile Display to Render Softness Feeling on Multiple Fingers, Haptics: Neuroscience, Devices, Modeling, and, pp.215-222, 2014.
DOI : 10.1007/978-3-662-44196-1_27

G. Moy, C. Wagner, and R. S. Fearing, A compliant tactile display for teletaction, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), pp.3409-3415, 2000.
DOI : 10.1109/ROBOT.2000.845247

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.127.2977

N. Asamura, N. Yokoyama, and H. Shinoda, Selectively stimulating skin receptors for tactile display, IEEE Computer Graphics and Applications, vol.18, issue.6, pp.32-37, 1998.
DOI : 10.1109/38.734977

E. P. Scilingo, N. Sgambelluri, G. Tonietti, and A. Bicchi, Integrating Two Haptic devices for Performance Enhancement, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), pp.139-144, 2007.
DOI : 10.1109/WHC.2007.77

V. Hayward and M. Cruz-hernandez, Tactile Display Device Using Distributed Lateral Skin Stretch, Proc. of the Haptic Interfaces for Virtual Environment and Teleoperator Systems Symposium, ASME IMECE2000

C. L. Van-doren, D. G. Pelli, and R. T. Verrillo, A device for measuring tactile spatiotemporal sensitivity, The Journal of the Acoustical Society of America, vol.81, issue.6, pp.1309-1314, 1987.
DOI : 10.1121/1.394755

N. Miki, Y. Kosemura, J. Watanabe, and H. Ishikawa, MEMS tactile display: from fabrication to characterization, pp.897506-897506, 2014.
DOI : 10.1117/12.2044127

D. Overholt, The MATRIX: A Novel Controller for Musical Expression, Proceedings of the 2001 Conference on New Interfaces for Musical Expression, pp.1-4, 2001.

D. Overholt, New Musical Mappings for the MATRIX Interface, Proc. of ICMC, 2002.

E. Mallinckrodt, A. Hughes, and W. Sleator, Perception by the Skin of Electrically Induced Vibrations, Science, vol.118, issue.3062, pp.277-278, 1953.
DOI : 10.1126/science.118.3062.277

J. Beebe, Polarity effect in electrovibration for tactile display, IEEE Trans

R. M. Strong and D. E. , An Electrotactile Display, IEEE Transactions on Man Machine Systems, vol.11, issue.1, pp.72-79, 1970.
DOI : 10.1109/TMMS.1970.299965

K. Kaczmarek, Electrotactile Display of Computer Graphics for Blind, 2004.

A. Yamamoto, S. Nagasawa, H. Yamamoto, and T. Higuchi, Electrostatic tactile display with thin film slider and its application to tactile telepresentation systems, IEEE Transactions on Visualization and Computer Graphics, vol.12, issue.2, pp.168-177, 2006.
DOI : 10.1109/TVCG.2006.28

O. Bau, I. Poupyrev, A. Israr, and C. Harrison, TeslaTouch, Proceedings of the 23nd annual ACM symposium on User interface software and technology, UIST '10, pp.283-292, 2010.
DOI : 10.1145/1866029.1866074

Z. Radivojevic, Electrotactile touch surface by using transparent graphene, Proceedings of the 2012 Virtual Reality International Conference on, VRIC '12, pp.1-16
DOI : 10.1145/2331714.2331733

D. Wijekoon, M. Cecchinato, E. Hoggan, and J. Linjama, Electrostatic Modulated Friction as Tactile Feedback: Intensity Perception, Proceedings of Eurohaptics 2012, pp.613-624, 2012.
DOI : 10.1007/978-3-642-31401-8_54

H. Tang and D. J. Beebe, A microfabricated electrostatic haptic display for persons with visual impairments, IEEE Transactions on Rehabilitation Engineering, vol.6, issue.3, pp.241-248, 1998.
DOI : 10.1109/86.712216

M. Takasaki, T. Nara, S. Tachi, and T. Higuchi, A surface acoustic wave tactile display with friction control, Technical Digest. MEMS 2001. 14th IEEE International Conference on Micro Electro Mechanical Systems (Cat. No.01CH37090), pp.240-243, 2001.
DOI : 10.1109/MEMSYS.2001.906523

H. Kotani, M. Takasaki, and T. Mizuno, Surface Acoustic Wave Tactile Display using a Large Size Glass Transducer, 2007 International Conference on Mechatronics and Automation, pp.198-203, 2007.
DOI : 10.1109/ICMA.2007.4303540

M. Takasaki, H. Kotani, T. Mizuno, and T. Nara, Transparent surface acoustic wave tactile display, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3354-3359, 2005.
DOI : 10.1109/IROS.2005.1545129

M. Takasaki, H. Kotani, T. Mizuno, and T. Nara, Two-dimensional Active Type Surface Acoustic Wave Tactile Display On a Computer Screen, 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.49-54, 2006.
DOI : 10.1109/vr.2006.136

M. Takasaki, T. Sakurada, H. Kotani, and T. Mizuno, A surface acoustic wave tactile display on Phantom, Proceedings of the 2005 international conference on Augmented tele-existence , ICAT '05, p.279, 2005.
DOI : 10.1145/1152399.1152469

M. Takasaki, H. Kotani, R. Tamon, and T. Mizuno, Tactile mouse using friction control, 2010 IEEE Haptics Symposium, pp.313-316, 2010.
DOI : 10.1109/HAPTIC.2010.5444639

M. Takasaki, T. Nara, and T. Mizuno, A progressive SAW tactile display on a PC mouse button, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp.11-16, 2002.
DOI : 10.1109/ROMAN.2002.1045590

M. Takasaki, R. Tamon, H. Kotani, and T. Mizuno, Pen tablet type surface acoustic wave tactile display combined with Phantom, 2008 IEEE International Conference on Robotics and Biomimetics, pp.671-675, 2008.
DOI : 10.1109/ROBIO.2009.4913081

T. Watanabe and S. Fukui, A method for controlling tactile sensation of surface roughness using ultrasonic vibration, Proceedings of 1995 IEEE International Conference on Robotics and Automation, pp.1134-1139, 1995.
DOI : 10.1109/ROBOT.1995.525433

E. Vezzoli, W. B. Messaoud, C. Nadal, F. Giraud, M. Amberg et al., Couplage vibration ultrasonique et électro-vibration pour la stimulation tactile, presented at the Symposium de Génie Electrique, 2014.

E. Vezzoli, Tactile device friction control and texture recognition, thèse de doctorat, 2016.

L. Winfield, J. Glassmire, J. E. Colgate, and M. Peshkin, 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), pp.421-426, 2007.
DOI : 10.1109/WHC.2007.105

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.95.3480

M. Biet, F. Giraud, F. Martinot, and B. Semail, A piezoelectric tactile display using travelling Lamb wave, Proc. Eurohaptics, pp.567-570, 2006.

M. Biet, F. Giraud, and B. Lemaire, Squeeze film effect for the design of an ultrasonic tactile plate, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol.54, issue.12, pp.2678-2688, 2007.
DOI : 10.1109/TUFFC.2007.596

URL : https://hal.archives-ouvertes.fr/hal-01110742

M. Biet, G. Casiez, F. Giraud, and B. Lemaire, Discrimination of Virtual Square Gratings by Dynamic Touch on Friction Based Tactile Displays, 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pp.41-48, 2008.
DOI : 10.1109/HAPTICS.2008.4479912

M. Biet, F. Giraud, and B. Lemaire, Implementation of tactile feedback by modifying the perceived friction, The European Physical Journal Applied Physics, vol.43, issue.1, pp.123-135, 2008.
DOI : 10.1051/epjap:2008093

F. Giraud, M. Amberg, B. Lemaire-semail, and G. Casiez, Design of a transparent tactile stimulator, 2012 IEEE Haptics Symposium (HAPTICS), pp.485-489, 2012.
DOI : 10.1109/HAPTIC.2012.6183835

URL : https://hal.archives-ouvertes.fr/hal-00670523

Y. Yang, Design and control of an integrated haptic interface for touch screen applications, Thèse de doctorat, université Lille 1, 2013.

M. Amberg, F. Giraud, B. Semail, P. Olivo, G. Casiez et al., STIM- TAC: A Tactile Input Device with Programmable Friction, Proceedings of the 24th Annual ACM Symposium Adjunct on User Interface Software and Technology, pp.7-8, 2011.

J. Mullenbach, C. Shultz, J. E. Colgate, and A. M. Piper, Exploring affective communication through variable-friction surface haptics, Proceedings of the 32nd annual ACM conference on Human factors in computing systems, CHI '14, pp.3963-3972, 2014.
DOI : 10.1145/2556288.2557343

J. Mullenbach, C. Shultz, A. M. Piper, M. Peshkin, and J. E. Colgate, Surface haptic interactions with a TPad tablet, Proceedings of the adjunct publication of the 26th annual ACM symposium on User interface software and technology, UIST '13 Adjunct, pp.7-8, 2013.
DOI : 10.1145/2508468.2514929

Y. Ochiai, T. Hoshi, J. Rekimoto, and M. Takasaki, Diminished Haptics: Towards Digital Transformation of Real World Textures, Haptics: Neuroscience, Devices, Modeling, and Applications, pp.409-417, 2014.
DOI : 10.1007/978-3-662-44193-0_51

W. B. Messaoud, M. Amberg, B. Lemaire-semail, F. Giraud, and M. A. Bueno, High fidelity closed loop controlled friction in SMARTTAC tactile stimulator, 2015 17th European Conference on Power Electronics and Applications (EPE'15 ECCE-Europe), 2015.
DOI : 10.1109/EPE.2015.7309191

URL : https://hal.archives-ouvertes.fr/hal-01252057

M. Wiertlewski, J. Lozada, and V. Hayward, The Spatial Spectrum of Tangential Skin Displacement Can Encode Tactual Texture, IEEE Transactions on Robotics, vol.27, issue.3, pp.461-472, 2011.
DOI : 10.1109/TRO.2011.2132830

M. Wiertlewski, J. Lozada, E. Pissaloux, and V. Hayward, Causality Inversion in the Reproduction of Roughness, pp.17-24, 2010.
DOI : 10.1109/TOH.2009.5

Y. Haga, W. Makishi, K. Iwami, K. Totsu, K. Nakamura et al., Dynamic Braille display using SMA coil actuator and magnetic latch, Sensors and Actuators A: Physical, vol.119, issue.2, pp.316-322, 2005.
DOI : 10.1016/j.sna.2004.10.001

P. M. Taylor, D. M. Pollet, A. Hosseini-sianaki, and C. J. Varley, Advances in an electrorheological fluid based tactile array, Displays, vol.18, issue.3, pp.135-141, 1998.
DOI : 10.1016/S0141-9382(98)00014-6

H. Haga, K. Yoshinaga, J. Yanase, D. Sugimoto, K. Takatori et al., 43.3: Electrostatic Tactile Display Using Beat Phenomenon of Voltage Waveforms, SID Symposium Digest of Technical Papers, vol.45, issue.1, pp.623-626, 2014.
DOI : 10.1002/j.2168-0159.2014.tb00163.x

T. Nakamura and A. Yamamoto, Multi-finger electrostatic passive haptic feedback on a visual display, 2013 World Haptics Conference (WHC), pp.37-42, 2013.
DOI : 10.1109/WHC.2013.6548381

T. Nakamura and A. Yamamoto, Multi-finger surface visuo-haptic rendering using electrostatic stimulation with force-direction sensing gloves, 2014 IEEE Haptics Symposium (HAPTICS), pp.489-491, 2014.
DOI : 10.1109/HAPTICS.2014.6775504

C. Hudin, J. Lozada, and V. Hayward, Localized tactile stimulation by timereversal of flexural waves: Case study with a thin sheet of glass, World Haptics Conference (WHC), pp.67-72, 2013.

C. Hudin, J. Lozada, M. Wiertlewski, and V. Hayward, Tradeoffs in the Application of Time-Reversed Acoustics to Tactile Stimulation, Haptics: Perception, Devices, Mobility, and, pp.218-226, 2012.
DOI : 10.1007/978-3-642-31401-8_20

C. Hudin, J. Lozada, and V. Hayward, Spatial, temporal, and thermal contributions to focusing contrast by time reversal in a cavity, Journal of Sound and Vibration, vol.333, issue.6, pp.1818-1832, 2014.
DOI : 10.1016/j.jsv.2013.11.016

. Muller, GelTouch: Localized Tactile Feedback Through Thin, Programmable Gel, Proceedings of the 28th Annual ACM Symposium on User Interface Software and Technology, pp.3-10

Y. Jansen, T. Karrer, and J. Borchers, MudPad, ACM International Conference on Interactive Tabletops and Surfaces, ITS '10, pp.11-14, 2010.
DOI : 10.1145/1936652.1936655

URL : https://hal.archives-ouvertes.fr/hal-01404492

C. Lee and M. Jang, Virtual Surface Characteristics of a Tactile Display Using Magneto-Rheological Fluids, Sensors, vol.18, issue.12, pp.2845-2856, 2011.
DOI : 10.3390/s110302845

D. W. Olson, S. F. Wolf, and J. M. Hook, The Tacoma Narrows Bridge collapse, Physics Today, vol.68, issue.11, pp.64-65, 2015.
DOI : 10.1119/1.4933145

T. Sashida and T. Kenjo, An Introduction to Ultrasonic Motors, 1993.

A. Kumada, A Piezoelectric Ultrasonic Motor, Japanese Journal of Applied Physics, vol.24, issue.S2, p.739, 1985.
DOI : 10.7567/JJAPS.24S2.739

N. Hoshi and A. Kawamura, Analysis of primary-on-slider type piezoelectric actuator and the application to two-degree-of-motion freedom plane actuator, IEEE Transactions on Industrial Electronics, vol.43, issue.1, pp.192-199, 1996.
DOI : 10.1109/41.481425

A. Ferreira, P. Minotti, and P. L. , New multi-degree of freedom piezoelectric micromotors for micromanipulator applications, 1995 IEEE Ultrasonics Symposium. Proceedings. An International Symposium, pp.417-422, 1995.
DOI : 10.1109/ULTSYM.1995.495612

M. Budinger, J. F. Rouchon, and B. Nogarede, Analytical Modeling for the Design of a Piezoelectric Rotating-Mode Motor, IEEE/ASME Transactions on Mechatronics, vol.9, issue.1, pp.1-9, 2004.
DOI : 10.1109/TMECH.2004.823846

M. Aoyagi and Y. Tomikawa, Ultrasonic Rotary Motor Using Longitudinal and Bending Multimode Vibrator with Mode Coupling Caused by External Additional Asymmetry, Japanese Journal of Applied Physics, vol.32, issue.Part 1, No. 9B, pp.4190-4193, 1993.
DOI : 10.1143/JJAP.32.4190

T. Takano, Y. Tomikawa, M. Yaginuma, and T. Ogasawara, A linearly moving ultrasonic motor using a longitudinal and bending multi-mode vibrator, [Proceedings] 1990 IEEE 7th International Symposium on Applications of Ferroelectrics, pp.521-524, 1990.
DOI : 10.1109/ISAF.1990.200304

T. Mashimo and S. Toyama, Rotary-linear piezoelectric microactuator with a cubic stator of side length 3.5 mm, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol.57, issue.8, pp.1825-1830, 2010.
DOI : 10.1109/TUFFC.2010.1621

T. Mashimo and S. Toyama, Rotary-linear piezoelectric actuator using a single stator, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol.56, issue.1, pp.114-120, 2009.
DOI : 10.1109/TUFFC.2009.1010

L. Petit, Nouvelles structures de moteurs piézoéléctriques : conception, réalisation et caractérisation, Thèse de doctorat, 1996.

C. K. Amedin, N. Atalla, and F. Sgrad, Méthodes de simulation temporelles pour résoudre des problématiques de bruit et vibrations, 2014.

C. Nadal, C. Giraud-audine, F. Giraud, M. Amberg, and B. Lemaire, Modelling of a beam excited by piezoelectric actuators in view of tactile applications, Mathematics and Computers in Simulation, vol.131, p.2015
DOI : 10.1016/j.matcom.2015.10.011

R. B. Bhat, Natural frequencies of rectangular plates using characteristic orthogonal polynomials in rayleigh-ritz method, Journal of Sound and Vibration, vol.102, issue.4, pp.493-499, 1985.
DOI : 10.1016/S0022-460X(85)80109-7

M. V. Quintana and L. G. Nallim, A variational approach to free vibration analysis of shear deformable polygonal plates with variable thickness, Applied Acoustics, vol.71, issue.5, pp.393-401, 2010.
DOI : 10.1016/j.apacoust.2009.12.002

D. J. Gorman and W. Ding, THE SUPERPOSITION-GALERKIN METHOD FOR FREE VIBRATION ANALYSIS OF RECTANGULAR PLATES, Journal of Sound and Vibration, vol.194, issue.2, pp.187-198, 1996.
DOI : 10.1006/jsvi.1996.0352

D. E. Beskos, Boundary Element Analysis of Plates and Shells, 2012.
DOI : 10.1007/978-3-642-45694-7

S. Timoshenko and S. Woinowsky-krieger, Theory of Plates and Shells, 2 edition, 1959.

S. Kukla, APPLICATION OF GREEN'S FUNCTION IN FREE VIBRATION ANALYSIS OF A SYSTEM OF LINE CONNECTED RECTANGULAR PLATES, Journal of Sound and Vibration, vol.217, issue.1, pp.1-15, 1998.
DOI : 10.1006/jsvi.1998.1745

K. F. Graff, Wave Motion in Elastic Solids, 1975.

D. H. Hodges and G. A. Pierce, Introduction to Structural Dynamics and Aeroelasticity, 2011.
DOI : 10.1017/cbo9780511997112

A. W. Leissa, The free vibration of rectangular plates, Journal of Sound and Vibration, vol.31, issue.3, pp.257-293, 1973.
DOI : 10.1016/S0022-460X(73)80371-2

L. Shuyu, STUDY ON THE FLEXURAL VIBRATION OF RECTANGULAR THIN PLATES WITH FREE BOUNDARY CONDITIONS, Journal of Sound and Vibration, vol.239, issue.5, pp.1063-1071, 2001.
DOI : 10.1006/jsvi.2000.3177

P. Hagedorn and A. Dasgupta, Vibrations and Waves in Continuous Mechanical Systems, 1 edition, 2007.
DOI : 10.1002/9780470518434

M. Abu, Forced vibration of Euler?Bernoulli beams by means of dynamic Green functions, Journal of Sound and Vibration, vol.267, issue.2, pp.191-207, 2003.

M. Brissaud, Matériaux piézoélectriques: caractérisation, modélisation et vibration . PPUR presses polytechniques, 2007.

C. W. De-silva, Vibration: Fundamentals and Practice, Second Edition, 2006.
DOI : 10.1201/b18521

V. Gupta, M. Sharma, and N. Thakur, Optimization Criteria for Optimal Placement of Piezoelectric Sensors and Actuators on a Smart Structure: A Technical Review, Journal of Intelligent Material Systems and Structures, vol.282, issue.301, pp.1227-1243, 2010.
DOI : 10.1177/1045389X10381659

A. Hac and L. Liu, Sensor And Actuator Location In Motion Control Of Flexible Structures, Journal of Sound and Vibration, vol.167, issue.2, pp.239-261, 1993.
DOI : 10.1006/jsvi.1993.1333

S. Leleu, H. Abou-kandil, and Y. Bonnassieux, Piezoelectric actuators and sensors location for active control of flexible structures, IEEE Transactions on Instrumentation and Measurement, vol.50, issue.6, pp.1577-1582, 2001.
DOI : 10.1109/19.982948

M. Trajkov and T. Nestorovi´cnestorovi´c, Optimal placement of piezoelectric actuators and sensors for smart structures, 15th Int. Conf. on Experimental Mechanics

T. Sashida and T. Kenjo, An Introduction to Ultrasonic Motors, 1993.

Y. Ting, J. M. Yang, C. C. Li, C. C. Yang, and Y. C. Shao, P3P-6 Modeling and Design of a Linear Actuator by Langevin Vibrators, 2006 IEEE Ultrasonics Symposium, pp.2337-2340, 2006.
DOI : 10.1109/ULTSYM.2006.590

D. Mayer, H. Atzrodt, S. Herold, and M. Thomaier, An approach for the model based monitoring of piezoelectric actuators, Computers & Structures, vol.86, issue.3-5, pp.3-5, 2008.
DOI : 10.1016/j.compstruc.2007.01.044

M. Goldfarb and N. Celanovic, A Lumped Parameter Electromechanical Model for Describing the Nonlinear Behavior of Piezoelectric Actuators, Journal of Dynamic Systems, Measurement, and Control, vol.119, issue.3, pp.478-485, 1997.
DOI : 10.1115/1.2801282

K. Chang, Effects of impulse forces on electrical characteristics of boltclamped Langevin ultrasonic transducer, IEEE International Conference on Industrial Technology, pp.893-898, 2005.

B. Fu, T. Li, and Y. Xie, Model-Based Diagnosis for Pre-Stress of Langevin Transducers, 2009 IEEE Circuits and Systems International Conference on Testing and Diagnosis, pp.1-4, 2009.
DOI : 10.1109/CAS-ICTD.2009.4960840

D. Samah, P. T. Sinaptec, and J. Rouchon, Influence of cavitation on ultrasonic piezoelectric transducers impedance: Modelling and experimentation, 2013 IEEE 11th International Workshop of Electronics, Control, Measurement, Signals and their application to Mechatronics, pp.1-6, 2013.
DOI : 10.1109/ECMSM.2013.6648960

E. Moreno, P. Acevedo, M. Fuentes, A. Sotomayor, L. Borroto et al., Design and Construction of a Bolt-Clamped Langevin Transducer, 2005 2nd International Conference on Electrical and Electronics Engineering, pp.393-395, 2005.
DOI : 10.1109/ICEEE.2005.1529652

C. Giraud-audine, Contribution à la modélisation analytique d'actionneurs piézoélectriques en vue de leur conception et dimensionnement, 1998.

P. Vasiljev, D. Mazeika, and S. Borodinas, Minimizing heat generation in a piezoelectric Langevin transducer, 2012 IEEE International Ultrasonics Symposium, pp.2714-2717, 2012.
DOI : 10.1109/ULTSYM.2012.0680

B. Fu, T. Li, and T. Hemsel, Multiobjective Optimal Design of Symmetrical Langevin Transducers, 2009 International Joint Conference on Computational Sciences and Optimization, pp.1017-1020, 2009.
DOI : 10.1109/CSO.2009.377

J. A. Gallego and . Juárez, Macrosonics: Phenomena, transducers and applications, Forum Acusticum Sevilla, pp.16-20, 2002.

B. Fu, Piezoelectric Actuator Design via Multi-objective. Optimization Methods, Heinz Nixdorf Institute, Pader-born, 2005.

A. Iula, N. Lamberti, R. Carotenuto, and M. Pappalardo, A 3-D model of the classical Langevin transducer, 1997 IEEE Ultrasonics Symposium Proceedings. An International Symposium (Cat. No.97CH36118), pp.987-990, 1997.
DOI : 10.1109/ULTSYM.1997.661746

B. Nogarède and D. V. Bossche, Électrodynamique appliquée: Bases et principes physiques de l'électrotechnique. Dunod, 2005.

F. Pigache, F. Giraud, and B. Lemaire, Modelling and identification of a planar standing wave ultrasonic motor, The European Physical Journal Applied Physics, vol.34, issue.1, pp.55-65, 2006.
DOI : 10.1051/epjap:2006033

URL : https://hal.archives-ouvertes.fr/hal-01110740

F. Bo, L. Chao, Z. Jianming, H. Zhenwei, and H. Tobias, Modeling of Piezoelectric Langevin Transducers by Using Mixed Transfer Matrix Methods, Journal of the Korean Physical Society, vol.57, issue.41, p.929, 2010.
DOI : 10.3938/jkps.57.929

C. Yeong-chin, Langevin Type Piezoelectric Transducer with Different Mass Loading on Both Ends

B. Nogarede, Moteurs piézoélectriques, pp.1-20, 1996.

W. B. Messaoud, F. Giraud, B. Semail, M. Amberg, and M. A. Bueno, Amplitude Control of an Ultrasonic Vibration for a Tactile Stimulator, IEEE/ASME Transactions on Mechatronics, vol.21, issue.3, pp.1692-1701, 2016.
DOI : 10.1109/TMECH.2016.2535300

URL : https://hal.archives-ouvertes.fr/hal-01396831

D. Guyomar, N. Aurelle, C. Richard, P. Gonnard, and L. Eyraud, Nonlinearities in Langevin transducers, Proceedings of IEEE Ultrasonics Symposium ULTSYM-94, pp.925-928, 1994.
DOI : 10.1109/ULTSYM.1994.401694

D. Guyomar, B. Ducharne, and G. Sebald, High nonlinearities in Langevin transducer: A comprehensive model, Ultrasonics, vol.51, issue.8, pp.1006-1013, 2011.
DOI : 10.1016/j.ultras.2011.05.017

A. Saleem, M. Salah, N. Ahmad, and V. Silberschmidt, Control of ultrasonic transducers for machining applications, 2013 9th International Symposium on Mechatronics and its Applications (ISMA), pp.1-5, 2013.
DOI : 10.1109/ISMA.2013.6547378

Y. Maruyama, M. Takasaki, and T. Mizuno, Resonance Frequency Tracing System for Langevin Type Ultrasonic Transducers, Mechatronic Systems Simulation Modeling and Control, 2010.
DOI : 10.5772/9123

URL : http://www.intechopen.com/download/pdf/10414

S. Hayashi, On the tracking of resonance and antiresonance of a piezoelectric resonator, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol.38, issue.3, pp.231-236, 1991.
DOI : 10.1109/58.79607

S. Hayashi, On the tracking of resonance and antiresonance of a piezoelectric resonator. II. Accurate models of the phase locked loop, IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, vol.39, issue.6, pp.787-790, 1992.
DOI : 10.1109/58.165566

L. J. Smith, Use of phase-locked-loop control for driving ultrasonic transducers, NASA Lewis Research Center, 1996.

E. Minazara, D. Vasic, and F. Costa, Comparing piezoelectric transformer working with PLL and with nonlinear load approaches in DC-DC converter, 2007 European Conference on Power Electronics and Applications, 2007.
DOI : 10.1109/EPE.2007.4417225

URL : https://hal.archives-ouvertes.fr/hal-00843676

M. K. Kahalerras, F. Pigache, J. Regnier, and F. Mosser, Analyses of temperature influence in piezoelectric transformers dedicated to plasma generation, 2015 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM), pp.1-5, 2015.
DOI : 10.1109/ECMSM.2015.7208706

F. Giraud, Modélisation causale et commande d'un actionneur piézo-électrique à onde progressive, 2002.

M. Bullo, Modélisation et commande du moteur piézoélectrique à onde progressive, 2005.

F. Pigache, Modélisation Causale en vue de la Commande d'un translateur piézoélectrique plan pour une application haptique, 2005.

F. Giraud, M. Amberg, and B. Lemaire, Design and control of a haptic knob, Sensors and Actuators A: Physical, vol.196, pp.78-85, 2013.
DOI : 10.1016/j.sna.2013.03.012

URL : https://hal.archives-ouvertes.fr/hal-00924620

T. Li, J. Ma, and A. F. , Horn-Type Piezoelectric Ultrasonic Transducer: Modelling and Applications, Advances in Piezoelectric Transducers, F. Ebrahimi, 2011.
DOI : 10.5772/28753

URL : http://www.intechopen.com/download/pdf/24193

Z. Liang, X. Mo, and G. Zhou, A method for improving the electrical limit of the langevin ultrasonic transducer, 2012 Symposium on Piezoelectricity, Acoustic Waves, and Device Applications (SPAWDA), pp.195-198, 2012.
DOI : 10.1109/SPAWDA.2012.6464069

A. Iula, D. Cerro, M. Pappalardo, and N. Lamberti, FEA and experimental characterization of langevin transducers with comparable longitudinal and lateral dimensions, IEEE Ultrasonics Symposium, 2004, pp.650-653, 2004.
DOI : 10.1109/ULTSYM.2004.1417808

A. Iula, D. Cerro, M. Pappalardo, and N. Lamberti, 3D finite element analysis of the Langevin transducer, IEEE Symposium on Ultrasonics, 2003, pp.1663-1667, 2003.
DOI : 10.1109/ULTSYM.2003.1293230

G. H. Kim, J. W. Park, and S. H. Jeong, Analysis of dynamic characteristics for vibration of flexural beam in ultrasonic transport system, Journal of Mechanical Science and Technology, vol.238, issue.1, pp.1428-1434, 2009.
DOI : 10.1007/s12206-008-1219-6

A. Kawamura and N. Takeda, Linear ultrasonic piezoelectric actuator, IEEE Transactions on Industry Applications, vol.27, issue.1, pp.23-26, 1991.
DOI : 10.1109/28.67527

Y. Ting, J. M. Yang, C. C. Li, C. C. Yang, and Y. C. Shao, P3P-6 Modeling and Design of a Linear Actuator by Langevin Vibrators, 2006 IEEE Ultrasonics Symposium, pp.2337-2340, 2006.
DOI : 10.1109/ULTSYM.2006.590

J. M. Fernandez and Y. Perriard, Characteristics, modeling and simulation of a traveling wave ultrasonic linear motor, IEEE Ultrasonics Symposium, 2004, pp.2247-2250, 2004.
DOI : 10.1109/ULTSYM.2004.1418287

Y. Roh, S. Lee, and W. Han, Design and fabrication of a new traveling wave-type ultrasonic linear motor, Sensors and Actuators A: Physical, vol.94, issue.3, pp.205-210, 2001.
DOI : 10.1016/S0924-4247(01)00707-5

H. Hariri, Y. Bernard, and A. Razek, Modeling and experimental study of a two modes excitation traveling wave piezoelectric miniuature robot, pp.346-349
URL : https://hal.archives-ouvertes.fr/hal-00779581

H. Hariri, Y. Bernard, and A. Razek, A traveling wave piezoelectric beam robot, Smart Materials and Structures, vol.23, issue.2, p.25013, 2014.
DOI : 10.1088/0964-1726/23/2/025013

URL : https://hal.archives-ouvertes.fr/hal-00933617

K. Nakamura and D. Koyama, Non-contact transportation system of small objects using Ultrasonic Waveguides, IOP Conference Series: Materials Science and Engineering, vol.42, issue.1, p.12014, 2012.
DOI : 10.1088/1757-899X/42/1/012014

X. Li, Y. Sun, C. Chen, and C. Zhao, Oscillation propagating in non-contact linear piezoelectric ultrasonic levitation transporting system?from solid state to fluid media, IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, vol.57, issue.4, pp.951-956, 2010.

Y. Hashimoto, Y. Koike, and S. Ueha, Transporting objects without contact using flexural traveling waves, The Journal of the Acoustical Society of America, vol.103, issue.6, pp.3230-3233, 1998.
DOI : 10.1121/1.423039

M. Kurosawa and S. Ueha, High speed ultrasonic linear motor with high transmission efficiency, Ultrasonics, vol.27, issue.1, pp.39-44, 1989.
DOI : 10.1016/0041-624X(89)90007-3

B. Loh and P. Ro, An object transport system using flexural ultrasonic progressive waves generated by two-mode excitation, IEEE Transactions on Ultrasonics , Ferroelectrics, and Frequency Control, vol.47, issue.4, pp.994-999, 2000.

B. Dehez, C. Vloebergh, and F. Labrique, Study and optimization of traveling wave generation in finite-length beams, Mathematics and Computers in Simulation, vol.81, issue.2, pp.290-301, 2010.
DOI : 10.1016/j.matcom.2010.05.013

A. Minikes, R. Gabay, I. Bucher, and M. Feldman, On the sensing and tuning of progressive structural vibration wavesModélisation et optimisation d'actionneurs piézoélectriques linéaires à onde progressive, IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, vol.52174, issue.9, pp.1565-1576, 2005.

C. Razvan, Contribution au transport de poudre par actionnement piézoélectrique ultrasonique, thèse de doctorat, 2013.

C. Hernandez, Y. Bernard, and A. Razek, Theoretical and experimental analysis of a two mode excitation linear motor using piezoelectric actuators, Proceedings of Actuator, 2010.
URL : https://hal.archives-ouvertes.fr/hal-00555705

F. Giraud, C. Giraud-audine, M. Amberg, and B. Lemaire, Vector control method applied to a traveling wave in a finite beam, IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, vol.61, issue.1, pp.147-158, 2014.
DOI : 10.1109/TUFFC.2014.6689782

URL : https://hal.archives-ouvertes.fr/hal-00924624

I. Bucher, Estimating the ratio between travelling and standing vibration waves under non-stationary conditions, Journal of Sound and Vibration, vol.270, issue.1-2, pp.341-359, 2004.
DOI : 10.1016/S0022-460X(03)00539-X

Y. Tomikawa, K. Adachi, H. Hirata, T. Suzuki, and T. Takano, Excitation of a Progressive Wave in a Flexurally Vibrating Transmission Medium, Japanese Journal of Applied Physics, vol.29, issue.S1, p.179, 1990.
DOI : 10.7567/JJAPS.29S1.179

M. Kuribayashi, S. Ueha, and E. Mori, Excitation conditions of flexural traveling waves for a reversible ultrasonic linear motor, The Journal of the Acoustical Society of America, vol.77, issue.4, pp.1431-1435, 1985.
DOI : 10.1121/1.392037

D. Wang and H. Nguyen, A planar B??zier profiled horn for reducing penetration force in ultrasonic cutting, Ultrasonics, vol.54, issue.1, pp.375-384, 2014.
DOI : 10.1016/j.ultras.2013.05.002

D. Wang, W. Chuang, K. Hsu, and H. Pham, Design of a B??zier-profile horn for high displacement amplification, Ultrasonics, vol.51, issue.2, pp.148-156, 2011.
DOI : 10.1016/j.ultras.2010.07.004

H. Nguyen, H. Nguyen, J. Uan, and D. Wang, A nonrational B-spline profiled horn with high displacement amplification for ultrasonic welding, Ultrasonics, vol.54, issue.8, pp.2063-2071, 2014.
DOI : 10.1016/j.ultras.2014.07.003

A. Endo, M. Yanagimoto, T. Asami, and H. Miura, Noncontact atomization of droplets using an aerial ultrasonic source with two vibrating plates, Japanese Journal of Applied Physics, vol.54, issue.7S1, 2015.
DOI : 10.7567/JJAP.54.07HE13

H. Piéron, Les ??chelles subjectives peuvent-elles fournir la base d'une nouvelle loi psychophysique ?, L'ann??e psychologique, vol.59, issue.1, pp.1-34, 1959.
DOI : 10.3406/psy.1959.6593

K. J. Son and K. Kim, The use of degenerate mode shapes in piezoelectric variable friction tactile displays(the 12th international conference on motion and vibration control), Dynamics and Design Conference, vol.2014, issue.12, pp.1-7, 2014.

L. A. Jones and H. Z. Tan, Application of Psychophysical Techniques to Haptic Research, IEEE Transactions on Haptics, vol.6, issue.3, pp.268-284, 2013.
DOI : 10.1109/TOH.2012.74

X. Dai, J. E. Colgate, and M. A. Peshkin, LateralPaD: A surface-haptic device that produces lateral forces on a bare finger, IEEE Haptics Symposium (HAP- TICS), pp.7-14, 2012.

S. Kim, J. Kim, and K. Kim, Traveling vibrotactile wave - a new vibrotactile rendering method for mobile devices, IEEE Transactions on Consumer Electronics, vol.55, issue.3, pp.1032-1038, 2009.
DOI : 10.1109/TCE.2009.5277952

M. Biet, F. Giraud, F. Martinot, and B. Semail, A Piezoelectric Tactile Display Using Travelling Lamb Wave, Proc. Eurohaptics Conf, pp.567-570, 2006.

T. Sashida and T. Kenjo, An introduction to ultrasonic motors, 1993.

J. Wallaschek, Contact mechanics of piezoelectric ultrasonic motors, Smart Materials and Structures, vol.7, issue.3, p.369, 1998.
DOI : 10.1088/0964-1726/7/3/011

S. Derler, U. Schrade, and L. Gerhardt, Tribology of human skin and mechanical skin equivalents in contact with textiles, Wear, vol.263, issue.7-12, pp.1112-1116, 2007.
DOI : 10.1016/j.wear.2006.11.031

M. Bueno, B. Lemaire-semail, M. Amberg, and F. Giraud, Pile Surface Tactile Simulation: Role of the Slider Shape, Texture Close to Fingerprints, and the Joint Stiffness, Tribology Letters, vol.48, issue.20140698, pp.1-12, 2015.
DOI : 10.1007/s11249-015-0555-9

R. F. Friesen, M. Wiertlewski, M. A. Peshkin, and J. E. Colgate, Bioinspired artificial fingertips that exhibit friction reduction when subjected to transverse ultrasonic vibrations, 2015 IEEE World Haptics Conference (WHC), pp.208-213
DOI : 10.1109/WHC.2015.7177715

E. Vezzoli, B. Dzidek, T. Sednaoui, F. Giraud, M. Adams et al., Role of fingerprint mechanics and non-Coulombic friction in ultrasonic devices, 2015 IEEE World Haptics Conference (WHC), pp.43-48
DOI : 10.1109/WHC.2015.7177689

URL : https://hal.archives-ouvertes.fr/hal-01253582

L. A. Jones and H. Z. Tan, Application of Psychophysical Techniques to Haptic Research, IEEE Transactions on Haptics, vol.6, issue.3, pp.268-284, 2013.
DOI : 10.1109/TOH.2012.74

A. Minikes, I. Bucher, and S. Haber, Levitation force induced by pressure radiation in gas squeeze films, The Journal of the Acoustical Society of America, vol.116, issue.1, pp.217-226, 2004.
DOI : 10.1121/1.1760110

S. Yoshimoto, T. Shou, and K. Somaya, Vertical attractive force generated in a noncontact chuck using ultrasonic vibration, Precision Engineering, vol.37, issue.4, pp.805-811, 2013.
DOI : 10.1016/j.precisioneng.2013.03.004

M. Takasaki, D. Terada, Y. Kato, Y. Ishino, and T. Mizuno, Non-contact ultrasonic support of minute objects, Physics Procedia, vol.3, issue.1, pp.1059-1065, 2010.
DOI : 10.1016/j.phpro.2010.01.137

URL : http://doi.org/10.1016/j.phpro.2010.01.137

H. Shinada, Y. Ishino, M. Hara, D. Yamaguchi, M. Takasaki et al., Proposal of Pump Using Ultrasonic Transducer and Opposing Surface, Physics Procedia, vol.70, pp.76-79, 2015.
DOI : 10.1016/j.phpro.2015.08.046

URL : http://doi.org/10.1016/j.phpro.2015.08.046

A. E. Crawford, A practical introduction to ultrasonic cleaning, Ultrasonics, vol.1, issue.2, pp.65-69, 1963.
DOI : 10.1016/0041-624X(63)90056-8

T. Mcpherson and J. Ueda, A Force and Displacement Self-Sensing Piezoelectric MRI-Compatible Tweezer End Effector With an On-Site Calibration Procedure, IEEE/ASME Transactions on Mechatronics, vol.19, issue.2, pp.755-764, 2014.
DOI : 10.1109/TMECH.2013.2257827

F. Giraud, C. Giraud-audine, M. Amberg, and B. Lemaire, Dtac: a tactile device which changes how a surface is perceived, 15th International Conference and exhibition on new actuators and drives, pp.1-4, 2016.

M. Clément, D. Philippe, and A. Bouscayrol, Comparison of Different EMRbased Models of Traction Power Substations for Energetic Studies of Subway Lines, IEEE Transactions on Vehicular Technology, vol.65, pp.1021-1029, 2016.

H. Ludovic and A. Bouscayrol, Dynamical and quasi-static multi-physical models of a diesel internal combustion engine using Energetic Macroscopic Representation Energy Conversion and Management, pp.280-291, 2015.

S. Luis and A. Bouscayrol, Coupling Bond Graph and Energetic Macroscopic Representation for Electric Vehicle Simulation, Mechatronics Elsevier, vol.24, issue.10, pp.906-913, 2014.

B. Annexe, Design de la pièce adaptative et du spport de l'actionneur 10, 2016.