Actuator module for actuating a load, the actuator module comprising - a deformable frame having a stiffness distribution and mass distribution determining a vibrational eigenmode of the deformable frame, wherein an interface formed by a surface of the deformable frame comprises a plurality of mode nodal points which are stationary during modal deformation of the deformable frame in an excited state of the eigenmode; and - an actuator connected to the deformable frame and arranged for exerting a time-varying force distribution onto the deformable frame via a connection between the deformable frame and the actuator, wherein the interface of the deformable frame comprises a plurality of static nodal points which are stationary during static deformation of the deformable frame when the time-varying force distribution exerted by the actuator is applied under quasi-static conditions at frequencies well below the lowest eigenfrequency of the deformable frame; - wherein the time-varying force distribution is arranged to couple to the excited state of the eigenmode and the deformable frame comprises an actuation surface which in use oscillates due to the combined modal and static deformations of the deformable frame in order to actuate the load contacting and/or connected to said actuation surface; and - wherein the force distribution, stiffness distribution, and/or mass distribution are adapted to have the static nodal points coincide with the mode nodal points across a dimension within a tolerance distance (dx) of less than one percent of a maximum size across the interface of the deformable frame in that dimension; - wherein the deformable frame comprises a plurality of frame connectors for connecting the actuator module to a base frame wherein the frame connectors are arranged at the interface of the deformable frame centred on the static nodal points and/or mode nodal points. - a deformable frame having a stiffness distribution and mass distribution determining a vibrational eigenmode of the deformable frame, wherein an interface formed by a surface of the deformable frame comprises a plurality of mode nodal points which are stationary during modal deformation of the deformable frame in an excited state of the eigenmode; and - an actuator connected to the deformable frame and arranged for exerting a time-varying force distribution onto the deformable frame via a connection between the deformable frame and the actuator, wherein the interface of the deformable frame comprises a plurality of static nodal points which are stationary during static deformation of the deformable frame when the time-varying force distribution exerted by the actuator is applied under quasi-static conditions at frequencies well below the lowest eigenfrequency of the deformable frame; - wherein the time-varying force distribution is arranged to couple to the excited state of the eigenmode and the deformable frame comprises an actuation surface which in use oscillates due to the combined modal and static deformations of the deformable frame in order to actuate the load contacting and/or connected to said actuation surface; and - wherein the force distribution, stiffness distribution, and/or mass distribution are adapted to have the static nodal points coincide with the mode nodal points across a dimension within a tolerance distance (dx) of less than one percent of a maximum size across the interface of the deformable frame in that dimension; - wherein the deformable frame comprises a plurality of frame connectors for connecting the actuator module to a base frame wherein the frame connectors are arranged at the interface of the deformable frame centred on the static nodal points and/or mode nodal points.