| 摘要 |
A flat-coil actuator embedded in a linkage of a mechanical interface for a force feedback device. The linkage rotates about an axis, where a flat coil is embedded in the linkage between two ends or connection points of the linkage. Magnets are positioned parallel to the flat coil, where a force is produced on the linkage when a current is flowed in the coil. An embedded position sensor, such as an optical encoder, can be coupled to the linkage. A force feedback device incorporating the flat-coil actuator includes a user manpulandum, where the linkage is coupled between a ground and the user manipulandum. Other linkages can also be coupled to the actuator to provide mechanisms such as a five-bar linkage mechanism.
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