Characteristic analysis and shape optimal design of a ring-type traveling wave ultrasonic motorJong-Suk Ro, Kyung-Pyo Yi, Tae-Kyung Chung and Hyun-Kyo JungEur. Phys. J. Appl. Phys., 63 1 (2013) 10901DOI: https://doi.org/10.1051/epjap/2013130069