Ultrasonic motors(USM) has been emerging as one type actuators, which possess many advantages such as high torque, low weight, compact size and no magnetic field generation. In spite of these features, there are several problems to be solved, which are temperature rise in case of long term operation, non -linearity, and hysteresis. Among these, hysteresis cause the most serious problem in force/torque control applications. To cope with this paper we propose a new PWM driving method which can be applied to force/torque control applications. To cope with this problem, in this paper we propose a new PWM driving method which can applied to force/torque control of USM. To verify the proposed method, an experimental setup was built and several experiments were performed.