“…The piezoelectric micro-motors described were all designed for travelling wave actuation, which eases control. More recently, nonlinear dynamics of rub-impact-actuated micro-motors have been studied via classical impact theory and dry friction models; however, to date these studies are without experimental validation [20,21]. While both piezoelectric ultrasonic and magnetoelastic motors are actuated by high frequency stator vibration, which makes contact with a rotor, the two most prominent differences are: 1) the forcing mechanism is magnetoelastic rather than piezoelectric, thus relying on in-plane magnetic fields rather than through-the-thickness electric fields, and 2) the suspended nature of the magnetoelastic stator along with the high intended payloads means that the stator motion -not just the rotor motion -is substantially affected by contact interactions.…”