@article{leroy:cea-01837069, TITLE = {{A curved ultrasonic actuator optimized for spherical motors: Design and experiments}}, AUTHOR = {Leroy, Edouard and Lozada, Jos{\'e} and Hafez, Moustapha}, URL = {https://cea.hal.science/cea-01837069}, JOURNAL = {{Ultrasonics}}, PUBLISHER = {{Elsevier}}, VOLUME = {54}, PAGES = {1610 - 1619}, YEAR = {2014}, MONTH = Aug, DOI = {10.1016/j.ultras.2014.03.009}, KEYWORDS = {Curved actuators ; Modal analysis ; Multi-degree-of-freedom ; Piezoelectric ; Ultrasonic}, HAL_ID = {cea-01837069}, HAL_VERSION = {v1}, }