中文摘要：

为实现高精度的多自由度超声波电动机控制，提出一种新型的基于压力传感器的电机力矩测试机构，并阐述了测试原理和方法。实验证明，该测试机构满足电机力矩的测试要求，具有精度高、结构巧妙和体积紧凑等特点。

英文摘要：

In order to realize high precision control of muhi-degree-of-freedom ultrasonic motor, A novel torque test mechanism based on pressure sensors was put forward. The test principle and method were also illustrated. Experiments show that the test mechanism can meet requirements of the motor test, with advantages of high precision, ingenious design and compact structure.