A spherical permanent magnet actuator for a high-fidelity force-feedback joystick
The paper describes the basic features and performance characteristics of a novel spherical permanent magnet actuator. It is capable of two degrees-of-freedom, and has potential for use in applications such as haptic feedback and position servo devices. Due to the simplicity of its mechanical construction and rotor position sensing system, and the absence of transmission components, the actuator is particularly suitable for high-fidelity force-feedback joysticks, for which a high bandwidth, low cost and small size are major requirements. In order to assess its potential, comprehensive measurements have been carried out, which confirm that the spherical actuator offers a considerably higher bandwidth than current commercially available force-feedback joysticks. (C) 2002 Elsevier Ltd. All rights reserved.
permanent magnet force-feedback joystick multiple degrees-of-freedom actuator frequency transfer function robust control