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Ordinary audible- sound, Base, infra sound and electromagnetic radio waves of appropriate frequency and amplitude can probably provide the vibration needed. Sound waves are suggested as they are safer than same size electromagnetic waves. It is easier to protect the body from sound of low frequency than radar or microwaves . That doesn't mean at high amplitude they are known to be safe Ior the body during long exposure. Ultrasound can damage body tissue, so I assume so can other frequencies. Infrasound may be felt in the body more than heard by the ears. It makes some people feel uncomfortablew ,unweasy and can cause nausea.
It will probably require finding the resonant frequency of he Object , the frequency it responds to best. It could be a harmonic that is most useful in a particular circumstance. Object and environmental wave must work together to maximize useful movement, not work against each other , wasting energy.