A haptic actuator apparatus and a method of making the same include an ultrasonically vibrating motor and its housing. The housing includes a guide structure coupled to the ultrasonically vibrating motor and at least one spring. The guide structure defines at least one path of motion of the ultrasonically vibrating motor. The at least one spring delimits the at least one path and generates human-detectable vibrations in response to an impact with the ultrasonically vibrating motor.