Piezoelectric motors operate on the principal of converting the high-frequency oscillation of high-force, precision ceramic elements into useful continuous motion. High-power oscillations are converted to rotary motion through novel transmission mechanisms to produce high-torque, precision motion. Dynamic Structures and Materials (DSM) focused the Phase I innovation on the development and design of a precision rotary motor mechanism that employs piezoelectric oscillatory power and produces rotary motion for operation at cryogenic and extreme environments. The successful design of a high-torque prototype mechanism and the subsequent Phase I demonstration of the prototype under vacuum conditions lays the groundwork for the technology to reach product status and commercialization success in both NASA and non-NASA applications. Phase II efforts will refine the innovation with additional focus on developing the fundamental understanding of rotary piezoelectric motor design and implementation. The Phase II prototypes will be fully characterized over a temperature range of approximately 25K to 400 K in hard vacuum. The construction materials of this type of mechanism are inherently vacuum compatible and will be selected to provide very low or no outgassing. DSM has already demonstrated operation of its high-force linear piezoelectric motors for environments as low as 77 K.