Currently, haptic devices have been proposed to stimulate the human sense of touch in space or on plane environment. So, a broad whole of devices relies on several actuators with one degree of freedom whose are coupled by various mechanical linkages (pantograph,...).
In this case, several drawbacks appear as the bulk or the defects related to the mechanical linkages. The piezoelectric actuators can provide a satisfying solution for this type of applications : the high force/mass ratio, low speed operation, and specially the capacity to obtain several motorized degrees of freedom with one actuator. These advantages show that the piezoelectric seems to be an interesting technology in this domain. For this reason, a planar piezoelectric actuator is studied. It is a standing wave ultrasonic motor, which moves along two orthogonal directions on a plane, depending on the vibratory mode used. In spite of the simplicity of principle, contact phenomena lead to difficulties in modeling the actuator. The modeling is developed according to the principal stages of the energy transformation : the electromechanical conversion causes the vibratory movement, and the purely mechanical conversion provides the uniform movement. Many non-linearities are emphasized, then a simplified model is deduced to show the force control of the device. This simplified modeling gives an overall description of contact phenomena. After, the model is compared and validated with a reference non-linear model and experimental results. It is represented from the Causal Ordering Graph, which gives the control structure. The study emphasizes two solutions being able to satisfy the needs of haptic domain : an active force feedback, and an alternative solution comparable to a mechanical clutch called dissipative force feedback.