| 摘要 |
A motor allowing multiple degrees of output freedom includes a stator having first and second orthogonally positioned stator coils 16, 18 on the interior surface of a curved surface 12. A rotor 36 fixed to an output shaft 22 and movably supported adjacent the stator includes a plurality of magnets 38, 40, 42, 44 disposed thereon and is movable along the interior surface. Upon energization of the first stator coil, a first magnetic field is established to force at least a first or second one of the magnets and the rotor in a direction in the first or second degree of freedom. A method of providing force feedback to the joystick handle 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 16, 18 to establish the feedback force against one or more of the magnets 38, 40, 42, 44. |
