“…A c c e p t e d M a n u s c r i p t efficiency by designing ideal contact and vibration conditions [3,4,5,6,7,8,9,10], by applying the friction materials with desirable tribological performance [11,12], or by optimizing drive and control schemes [13,14,15], these methods are still based on friction drive mechanism and cannot effectively reduce the friction loss without sacrificing output torque. Several types of non-contact USMs, of which the rotor does not contact with the stator, have been developed to eliminate the friction loss [16,17,18,19,20]. However, the output torque of non-contact USMs is greatly lower than that of contact-type USMs, significantly limiting their applications.…”