| 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 interi or 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 (3 8, 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). |
