Year	Movement Speed (mm/s)	Thrust or Loading (N)	Driving Frequency (kHz)	Driving Conditions	References
2006	810	100	31.5 ~ 31.75	150 V_P−P	[1]
2007	44.8	12.85	63.4	100 V_P−P	[2]
2008	1280	45	27.476	150 V_rms	[3]
2008	235	21.4	36	200 V_rms	[4]
2009	960	103	23.9	200 V_rms	[5]
2009	1500	13 or 140	14330	80 V_p−p or 2 W	[6]
2009	286	142	42.9	200 V_p−p	[7]
2010	1160	20	25.7 ~ 26.8	200 V_rms	[8]
2011	240	29.43	34	100 V_P−P	[9]
2011	150	30	17.9	30 V_p−p	[10]
2012	854	40	23.59	200 V_rms or 10.39 W	[11]
2013	88	1.96	41.13	16 V_p−p	[12]
2013	230	0.6	92.00	150 V_p−p	[13]
2013	928	60	22.50	200 V_rms	[14]
2013	1527	50	24.80	200 V_rms	[15]
2014	170	1.8	136.5	100 V_p−p	[16]
2014	760	64.2	50.00	100 V_p−p or 17.4 W	[17]
2014	140	0.3	99.00	100 V_p−p or 9.3 mW	[18]
2015	230	0.3	174.0	80 V_p−p	[19]