Patent ID: 8472010

Claim:
An actuator configured to exert a force and a torque on an object, the actuator comprising: a first part and a second part, the first part being movable with respect to the second part in at least a first degree of freedom, wherein the object is mounted to the first part, and wherein one of the parts is provided with a first electrical coil that is arranged to cooperate with a magnetizable portion of the other part; a controller arranged to generate a first electrical current through the first electrical coil to generate a force between the first and second parts, wherein said one part is provided with a second electrical coil arranged to cooperate with the magnetizable portion of the other part, wherein the controller is further arranged to generate a second current through the second coil to exert the force and torque between the first and second parts so that the actuator is arranged to exert the force and the torque on the object with respect to the second part, and wherein one of the parts is provided with a third electrical coil, wherein the third electrical coil is substantially split in half into a first coil member and a second coil member such that the coil members are electrically disconnected and wherein the first coil member is connected in series with the first coil and the second coil member is connected in series with the second coil.