초록 ▼

A motor allowing multiple degrees of output freedom. The motor includes a stator having an interior surface forming at least a portion of a sphere or curved surface and first and second substantially orthogonally positioned stator coils wound on the interior surface. A rotor is fixed to the output s

A motor allowing multiple degrees of output freedom. The motor includes a stator having an interior surface forming at least a portion of a sphere or curved surface and first and second substantially orthogonally positioned stator coils wound on the interior surface. A rotor is fixed to the output shaft and movably supported adjacent the stator with an air gap disposed between the rotor and the stator. The rotor includes a plurality of magnets disposed thereon and is movable along the interior surface in directions defining at least first and second degrees of freedom. Upon energization of the first stator coil, a first magnetic field is established to force at least a first one of the magnets and the rotor in a direction in the first degree of freedom. Upon energization of the second stator coil, a second magnetic field is established to force at least a second one of the magnets and the rotor in a direction in the second degree of freedom. There is also provided a method of providing force feedback to joystick handle in response to manipulation of the handle by a user. The method includes: providing a motor consistent with the invention for driving the joystick; sensing a position of the joystick; and energizing at least one of the coils based on the sensed position to establish the feedback force against at least a first one of the magnets and the rotor.

대표청구항 ▼

[ What is claimed is:] [1.]1. A method of providing force feedback to joystick handle in response to manipulation of said handle by a user, said method comprising:providing a motor coupled to said joystick handle, said motor comprising:a stator, said stator having an interior curved surface and firs

[ What is claimed is:] [1.]1. A method of providing force feedback to joystick handle in response to manipulation of said handle by a user, said method comprising:providing a motor coupled to said joystick handle, said motor comprising:a stator, said stator having an interior curved surface and first and second stator coils wound on said interior surface, said stator coils positioned substantially orthogonally to each othera rotor fixed to said handle and movably supported adjacent said stator with an air gap disposed between said rotor and said stator, said rotor at least one magnet disposed thereon and being for movable along said interior surface in directions defining at least first and second degrees of freedom;sensing a position of said joystick; andenergizing at least one of said coils based on said position to establish a said feedback force against said rotor.