Motor assembly allowing output in multiple degrees of freedom
First Claim
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 other a 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; and
energizing at least one of said coils based on said position to establish a said feedback force against said rotor.
3 Assignments
0 Petitions
Accused Products
Abstract
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.
87 Citations
21 Claims
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1. A method of providing force feedback to joystick handle in response to manipulation of said handle by a user, said method comprising:
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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 other a 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; and
energizing at least one of said coils based on said position to establish a said feedback force against said rotor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A motor having an output shaft movable in multiple degrees of freedom, said motor comprising:
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a stator, said stator having an interior curved surface which defines at least a, portion of a sphere, and first and second stator coils wound on said interior surface, said stator coils positioned substantially orthogonally to each other;
a rotor fixed to said output shaft and movably supported adjacent said stator with an air gap disposed between said rotor and said stator, said rotor including at least one magnet disposed thereon and being movable along said interior surface in directions defining at least first and second degrees of freedom;
wherein upon energization of said first stator coil a first magnetic field is established to force said rotor in a direction in said first degree of freedom, and upon energization of said second stator coil a second magnetic field is established to force said rotor in a direction in said second degree of freedom. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification