Stepping Piezoelectric Actuators (SPA’s) – based on the Piezoelectric Friction-Inertial Actuation (PFIA) principle – are made from Cedrat Technologies Amplified Piezoelectric Actuators (APA). They use the stickslip principle to couple high resolution positioning (<µm), long stroke (>cm) and low volume (<15cm3). These motors are used in optronic, medical and military applications. However, current rubbing contact between the shaft and clamp limits the potential evolution of SPA’s. In this paper, a new concept: called Module SPA (MSPA) – offering long stroke capabilities (>10cm), allowing easier multi-DoF mechanism developments and miniaturization possibilities – is presented. Results obtained on three innovative engineering models – linear long stroke, rotary and three-DoF actuators – are presented, giving the reader actual benefits of this concept and allow addressing new applications such as consumer goods and medical devices.