Patent ID: 11967871
Assignee: UNIVERSITY OF UTAH RESEARCH FOUNDATION
Field: Electrical machinery, apparatus, energy (Electrical engineering)
Classification: CPC H  A | IPC A  H

Claim 3:
4. The electromagnetic actuator of claim 2, wherein the one or more motion primitives comprise control over point-to-point sub-movements of the permanent magnet rotor in a rotational step movement relative to the stator device, the electromagnetic actuator further comprising a force sensor associated with the output shaft to determine a torque load applied to the output shaft, wherein the controller operates to apply an electrical field to opposing stator coils to rotate the permanent magnet rotor from a first step position to a second step position based on a sensed torque load on the output shaft, wherein, when in the second rest step position, the controller operates to remove the electrical field, such that one of the stator poles magnetically maintains the position of the permanent magnet rotor in the second rest step position.