Contactless torque sensing for magnetic gears and controlled torquer systems

Abstract

An electromagnetic device is disclosed. The electromagnetic device can include an input element to which input torque is applied and an output element providing an output torque, magnetically coupled with the input element. A sensor assembly can generate one or more signals from which angular kinematic information and temperature are derived. Processing electronics can receive the one or more signals and determine at least one of the input torque or the output torque. The sensor assembly can include a first sensor to transduce the kinematic information of the input element or the output element and generate a first signal of the one or more signals representative of the kinematic information. The sensor assembly can also include a second sensor to transduce a temperature at a target location of the electromagnetic device and generate a second signal of the one or more signals representative of the temperature at the target location.

Description

FLXW.029WO PATENT CONTACTLESS TORQUE SENSING FOR MAGNETIC GEARS AND CONTROLLED TORQUER SYSTEMS RELATED APPLICATIONS

[0001] This application claims the priority benefit of U.S. Provisional Patent Application 63 / 678,971 filed on August 2, 2024, entitled “METHOD AND APPARATUS FOR CONTACTLESS TORQUE SENSING OF MAGNETIC GEAR,” and U.S. Provisional Patent Application 63 / 809,190 filed on May 20, 2025, entitled “MAGNETICALLY GEARED CONTROLLED TORQUER SYSTEM,” which are incorporated by reference herein in their entirety. BACKGROUND Field

[0002] The field of this disclosure is electromagnetic devices and magnetic gears. In particular, some implementations are directed to systems and methods for determining torque of an electromagnetic device by utilizing angular position sensors. Related Art

[0003] Torque sensing is often used for feedback control of mechanisms such as rotary electromechanical actuators. Today, torque sensing is usually achieved through an expensive and bulky external strain gauge or magnetoelastic transducer. In some applications, torque sensing is often inaccurately measured by sensing current into the electric motor and calculating torque, which results in an increase in total system cost and size. SUMMARY

[0004] For purposes of summarizing the disclosure and the advantages achieved over the prior art, certain objects and advantages of the disclosure are described herein. Not all such objects or advantages may be achieved in any particular embodiment. Thus, for example, those skilled in the art will recognize that the invention may be embodied or carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein.

[0005] All of these implementations are intended to be within the scope of the invention disclosed herein. These and other implementations will become readily apparent to those skilled in the art from the following detailed description of the preferred implementations having reference to the attached figures, the invention not being limited to any particular preferred implementations disclosed.

[0006] In some implementations, the techniques described herein relate to an electromagnetic device, the electromagnetic device can include: an input element to which an input torque is to be applied; an output element configured to provide an output torque, the output element magnetically coupled with the input element; a sensor assembly configured to generate one or more signals from which angular kinematic information and temperature are derived; and processing electronics configured to receive the one or more signals and to determine at least one of the input torque or the output torque.

[0007] In some implementations, the sensor assembly includes: a first sensor configured to transduce the kinematic information of the input element or the output element, wherein the first sensor generates a first signal of the one or more signals representative of the kinematic information; and a second sensor configured to transduce a temperature at a target location of the electromagnetic device, wherein the second sensor generates a second signal of the one or more signals representative of the temperature at the target location. In some implementations, the first sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the second sensor includes a temperature sensor. In some implementations, the temperature sensor includes at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

[0008] In some implementations, the sensor assembly further includes a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the at least one of the input torque or the output torque based at least in part on the determined kinematic information from the first sensor and the third sensor and the measured temperature. In some implementations, the third sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the target location includes the input element. In someimplementations, the target location includes the output element. In some implementations, the electromagnetic device includes a stationary element. In some implementations, the target location includes the stationary element. In some implementations, the processing electronics are further configured to receive the first signal representative of the kinematic information and the temperature signal representative of the temperature at the target location.

[0009] In some implementations, the input element and the output element include respective input and output rotors. In some implementations, the input torque is transferred to the output torque. In some implementations, wherein the input element and the output element include respective input and output rotors of a gear, wherein the input and output gears have a gear ratio of greater or less than 1:1. In some implementations, wherein the input element and the output element cooperate to define a magnetic coupling having a gear ratio of 1:1.

[0010] In some implementations, the electromagnetic device includes a modulator element having magnetically responsive material, the magnetically responsive material modulating a magnetic field of the input element. In some implementations, the output element includes the modulator element. In some implementations, the electromagnetic device includes a stationary element, the magnetically responsive material modulating a magnetic field of at least one of the input element and the stationary element. In some implementations, the stationary element includes at least one of a rotor or a stator. In some implementations, the stationary element includes magnetically responsive material, the magnetically responsive material modulating a magnetic field of at least one of the input element and the output element.

[0011] In some implementations, the processing electronics includes a memory storing a database including a plurality of values of a characteristic torque of the electromagnetic device at a corresponding plurality of temperatures and a corresponding number of pole pairs of the input element or the output element, wherein the input torque or the output torque is determined based at least in part on the characteristic torque and the corresponding number of pole pairs. In some implementations, the corresponding number of pole pairs further includes at least two of the input element, the output element, and a stationary element of the electromagnetic device. In some implementations, the processing electronics are further configured to produce a signal representative of the input torque or the output torque. In some implementations, the processing electronics are further configured todetermine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information. In some implementations, the processing electronics are further configured to calculate the output torque or the input torque at least based on a moment of inertia, a rotational damping function, a pole pair count, and a characteristic torque of the input element and the output element to determine the input torque or output torque. In some implementations, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device. In some implementations, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device. In some implementations, the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device.

[0012] In some implementations, the processing electronics are further configured monitor a slip torque of the input element and the output element of the electromagnetic device at a plurality of temperature to determine and track the characteristic torque. In some implementations, the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element. In some implementations, the processing electronics are further configured to perform a feedback loop, wherein the processing electronics monitor the kinematic information, the input torque or the output torque, and the temperature to improve an efficiency of the electromagnetic device. In some implementations, the processing electronics are further configured to communicate with a drive to adjust the input torque or the output torque.

[0013] In some implementations, a microelectronic component for determining an input torque or an output torque of an electromagnetic device, the microelectronic component can include: an input bus configured to receive a first signal representative of kinematic information of an input element or an output element and a second signal representative of a temperature at a target location of the electromagnetic device; an output bus that produces a third signal representative of the input torque or the output torque; and processing electronics configured to process the first signal and the second signal and determine the input torque or the output torque based at least in part on the processed signals.

[0014] In some implementations, the input bus includes a first terminal configured to receive first signal and a second terminal configured to receive the second signal. In some implementations, the microelectronic component includes a first sensor configured to transduce the kinematic information of the input element or the output element and provide the first signal to the first terminal. In some implementations, the microelectronic component includes a second sensor configured to transduce the temperature at the target location of the electromagnetic device, wherein the second sensor provides the second signal representative of the temperature at the target location to the second terminal. In some implementations, the second sensor includes a temperature sensor. In some implementations, the temperature sensor includes at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the target location includes the input element. In some implementations, the target location includes the output element. In some implementations, the target location includes a stationary element. In some implementations, the input bus further includes a fourth terminal configured to receive a fourth signal representative of kinematic information. In some implementations, the microelectronic component includes a third sensor configured to transduce the kinematic information of the input element or the output element and provide the kinematic information signal to the fourth terminal. In some implementations, the output bus includes a third terminal that produces the third signal.

[0015] In some implementations, the processing electronics includes memory storing a database including values corresponding to a characteristic torque, wherein the characteristic torque is determined based at least in part on the determined temperature. In some implementations, the database includes a look-up table of predetermined characteristic torques. In some implementations, the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device. In some implementations, the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information. In some implementations, the processing electronics are further configured to receive an angular acceleration, a moment of inertia, a rotational damping function, and a pole pair count of the input element and the output element to determine the input torque or the output torque. In some implementations, theangular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device. In some implementations, the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device. In some implementations, the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and an angular acceleration and angular acceleration of the input element or the output element.

[0016] In some implementations, an electromagnetic device can include: an input element to which an input torque is to be applied; an output element configured to provide an output torque, the output element magnetically coupled with the input element; a first sensor configured to transduce kinematic information of the input element or the output element, wherein the first sensor generates a first signal representative of the kinematic information; a second sensor configured to transduce a temperature at a target location of the electromagnetic device, wherein the second sensor generates a second signal representative of the temperature at the target location; and processing electronics in electrical communication with the first sensor and the second sensor, the processing electronics configured to determine at least one of the input torque or the output torque based at least in part on the determined kinematic information and the measured temperature.

[0017] In some implementations, the input element and the output element include respective input and output rotors. In some implementations, the input torque is transferred to the output torque. In some implementations, the input element and the output element include respective input and output rotors of a gear, wherein the input and output gears have a gear ratio of greater or less than 1:1. In some implementations, the input element and the output element cooperate to define a magnetic coupling having a gear ratio of 1:1. In some implementations, the first sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the electromagnetic device includes a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the at least one of the input torqueor the output torque based at least in part on the determined kinematic information from the first sensor and the third sensor and the measured temperature. In some implementations, the third sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the second sensor includes a temperature sensor. In some implementations, the temperature sensor includes at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the target location includes the input element. In some implementations, the target location includes the output element.

[0018] In some implementations, the electromagnetic device includes a modulator element having magnetically responsive material, the magnetically responsive material modulating a magnetic field of the input element. In some implementations, the output element includes the modulator element. In some implementations, the electromagnetic device includes a stationary element, the magnetically responsive material modulating a magnetic field of at least one of the input element and the stationary element. In some implementations, the electromagnetic device further includes a stationary element. In some implementations, the target location includes the stationary element. In some implementations, the stationary element includes at least one of a rotor or a stator. In some implementations, the stationary element includes magnetically responsive material, the magnetically responsive material modulating a magnetic field of at least one of the input element and the output element.

[0019] In some implementations, the processing electronics includes a memory storing a database including a plurality of values of a characteristic torque of the electromagnetic device at a corresponding plurality of temperatures and a corresponding number of pole pairs of the input element or the output element, wherein the input torque or the output torque is determined based at least in part on the characteristic torque and the corresponding number of pole pairs. In some implementations, the corresponding number of pole pairs further includes at least two of the input element, the output element, and a stationary element of the electromagnetic device. In some implementations, the processing electronics are further configured to receive the first signal representative of the kinematic information and the temperature signal representative of the temperature at the target location. In some implementations, the processing electronics are further configured to produce a signalrepresentative of the input torque or the output torque. In some implementations, the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information. In some implementations, the processing electronics are further configured to calculate the output torque or the input torque at least based on a moment of inertia, a rotational damping function, a pole pair count, and a characteristic torque of the input element and the output element to determine the input torque or the output torque. In some implementations, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device. In some implementations, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device.

[0020] In some implementations, the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device. In some implementations, the processing electronics are further configured monitor a slip torque of the input element and the output element of the electromagnetic device at a plurality of temperature to determine and track the characteristic torque. In some implementations, the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element. In some implementations, the processing electronics are further configured to perform a feedback loop, wherein the processing electronics monitor the kinematic information, the input torque or the output torque, and the temperature to improve an efficiency of the electromagnetic device. In some implementations, the processing electronics are further configured to communicate with a drive to adjust the input torque or the output torque.

[0021] In some implementations, a microelectronic component for determining an input torque or an output torque of an electromagnetic device, the microelectronic component can include: a first terminal configured to receive a first signal representative of kinematic information of an input element or an output element; a second terminal configured to receive a second signal, wherein the second signal is representative of a temperature at a target location of the electromagnetic device; a third terminal that produces a signal representative of the inputtorque or the output torque; and processing electronics configured to process the first signal and the second signal and determine the input torque or the output torque based at least in part on the processed signals.

[0022] In some implementations, the microelectronic component includes a first sensor configured to transduce the kinematic information of the input element or the output element and provide the first signal to the first terminal. In some implementations, the microelectronic component includes a fourth terminal configured to receive a fourth signal representative of kinematic information. In some implementations, the microelectronic component includes a third sensor configured to transduce the kinematic information of the input element or the output element and provide the kinematic information signal to the fourth terminal. In some implementations, the microelectronic component includes a second sensor configured to transduce the temperature at the target location of the electromagnetic device, wherein the second sensor provides the second signal representative of the temperature at the target location to the second terminal. In some implementations, the second sensor includes a temperature sensor. In some implementations, the temperature sensor includes at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the target location includes the input element. In some implementations, the target location includes the output element. In some implementations, the target location includes a stationary element.

[0023] In some implementations, the processing electronics includes memory storing a database including values corresponding to a characteristic torque, wherein the characteristic torque is determined based at least in part on the determined temperature. In some implementations, the database includes a look-up table of predetermined characteristic torques. In some implementations, the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device. In some implementations, the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information. In some implementations, the processing electronics are further configured to receive an angular acceleration, a moment of inertia, a rotational damping function, and a pole pair count of the input element and the output element to determine the input torque or the output torque. In some implementations, theangular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device. In some implementations, the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device. In some implementations, the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and an angular acceleration and angular acceleration of the input element or the output element.

[0024] In some implementations, a system including a microelectronic component configured to determine an input torque or output torque, the system can include: processing electronics configured to receive a first signal representative of kinematic information and a second signal representative of a temperature at a target location of an electromagnetic device; wherein the processing electronics are configured to process the first signal and the second signal and convert the first signal and the second signal to the output torque; and wherein the processing electronics produces a signal representative of the input torque or the output torque.

[0025] In some implementations, the system includes a first sensor to be connected to the processing electronics and configured to transduce the kinematic information of an input element or an output element and provide the first signal to the processing electronics. In some implementations, the system includes a third sensor to be connected to the processing electronics and configured to transduce kinematic information of an input element or an output element and provide a third signal to the processing electronics, wherein the processing electronics are further configured to receive the third signal representative of the kinematic information.

[0026] In some implementations, the system includes a second sensor to be connected to the processing electronics and configured to transduce the temperature, wherein the second sensor provides the second signal representative of the temperature at the target location of the electromagnetic device to the processing electronics. In some implementations, the temperature sensor includes at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the target location includes an input element. In some implementations, thetarget location includes an output element. In some implementations, the target location includes a stationary element. In some implementations, the second sensor includes a plurality of sensors, wherein the plurality of sensors provides a single signal representative of the temperature at the target location of the electromagnetic device to the processing electronics.

[0027] In some implementations, the processing electronics includes memory storing a database including values corresponding to a characteristic torque, wherein the characteristic torque is determined based at least in part on the temperature signal. In some implementations, the database includes a look-up table of predetermined characteristic torques. In some implementations, the processing electronics are configured to determine a characteristic torque during operation of the electromagnetic device. In some implementations, the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of an input element or an output element from the kinematic information. In some implementations, the processing electronics are further configured to receive an angular acceleration, a moment of inertia, a rotational damping function, and a pole pair count of an input element and an output element to determine the input torque or the output torque. In some implementations, the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device. In some implementations, the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device. In some implementations, the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of an input element and an output element.

[0028] In some implementations, a method for determining a characteristic torque of an electromagnetic device, the method including: fixing an output element to prevent rotation of the output element; applying an input torque to an input element, wherein the input element is magnetically coupled with the output element; monitoring kinematic information of the input element; determining a slip torque occurring at a peak torque applied to the input element and at a first temperature, wherein the slip torque occurs when the output element slipsfrom the input element; and calculating the characteristic torque at least based in part on the identified slip torque and the first temperature.

[0029] In some implementations, the method includes monitoring the kinematic information of the input element with a first sensor. In some implementations, the method includes monitoring kinematic information of the output element with a third sensor to identify when the slip torque occurs. In some implementations, a second sensor is configured to obtain the first temperature of the electromagnetic device.

[0030] In some implementations, processing electronics are configured to calculate the characteristic torque, wherein the processing electronics includes memory storing a database including values corresponding to the characteristic torque, wherein the characteristic torque is determined based at least in part on the identified slip torque and the first temperature. In some implementations, the method includes repeating the steps at a plurality of temperatures to determine a corresponding plurality of characteristic torque values. In some implementations, the method includes creating a look-up table of the determined characteristic torque values from the plurality of temperatures.

[0031] In some implementations, a method for assembling a microelectronic component configured to determine an input torque or an output torque of an electromagnetic device, the method including: providing processing electronics configured to receive a first signal representative of kinematic information and a second signal representative of a temperature at a target location of the electromagnetic device, wherein the processing electronics are configured to process the first signal and the second signal and convert the first signal and the second signal to the input torque or the output torque; and producing via the processing electronics a signal representative of the input torque or the output torque based at least in part on the first signal and the second signal.

[0032] In some implementations, the method includes connecting the microelectronic component to a first sensor configured to transduce the kinematic information of an input element or an output element and provide the first signal to the microelectronic component, connecting the first sensor to the input element or the output element. In some implementations, the first sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the method includes connecting to the microelectronic component athird sensor configured to transduce kinematic information of the input element or the output element and provide a third signal to the microelectronic component.

[0033] In some implementations, the method includes connecting the third sensor to the input element or to the output element. In some implementations, the third sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the method includes connecting to the microelectronic component a second sensor configured to transduce the temperature at the target location of the electromagnetic device, wherein the second sensor provides the second signal representative of the temperature at the target location to the microelectronic component. In some implementations, the second sensor includes a temperature sensor. In some implementations, the temperature sensor includes a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the target location includes an input element of the electromagnetic device. In some implementations, the target location includes an output element of the electromagnetic device. In some implementations, the target location includes a stationary element of the electromagnetic device.

[0034] In some implementations, the method includes outputting via at least one output terminal the signal representative of the input torque or the output torque. In some implementations, the method includes searching from a database stored in a memory of the processing electronics, wherein the database includes values of a characteristic torque for a corresponding plurality of temperatures and accelerations. In some implementations, the method includes determining a characteristic torque during operation of the electromagnetic device. In some implementations, the method includes determining an angular velocity, angular position, angular displacement, and angular acceleration of an input element or an output element from the kinematic information. In some implementations, the method includes receive a moment of inertia, a rotational damping function, and a pole pair count of an input element and an output element to determine the input torque or the output torque. In some implementations, the method includes determining the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of an input element or an output element.

[0035] In some implementations, the processing electronics use software or hardware to convert the first signal and the second signal to the input torque or the output torque. In some implementations, the hardware includes a buffer with increased processing speed and an integrated circuit including a look-up table of predetermined characteristic torques.

[0036] In some implementations, a method for determining an input torque or an output torque of an electromagnetic device, the method can include: measuring a first kinematic information of an input element or an output element; measuring a target temperature at a location of the electromagnetic device; and determining by processing electronics at least one of the input torque or the output torque based at least in part of the determined first kinematic information and temperature.

[0037] In some implementations, the method includes measuring the kinematic information of the input element or the output element via a first sensor, wherein the first sensor provides a first signal representative of the kinematic information to the processing electronics. In some implementations, the method includes measuring the target temperature at the target location of the electromagnetic device via a second sensor, wherein the second sensor includes a temperature sensors, and wherein the second sensor provides a temperature signal representative of the temperature at the target location to the processing electronics. In some implementations, the target location includes the input element. In some implementations, the target location includes the output element. In some implementations, the target location includes a stationary element of the electromagnetic device.

[0038] In some implementations, the method includes measuring a second kinematic information of the input element or the output element. In some implementations, the method includes measuring the second kinematic information of either the input element or the output element via a third sensor, wherein the third sensor provides a second signal representative of the second kinematic information to the processing electronics. In some implementations, the method includes searching from a database stored in a memory of the processing electronics, wherein the database includes values of characteristic torque for a corresponding plurality of temperatures. In some implementations, the method includes determining a characteristic torque during operation of the electromagnetic device.

[0039] In some implementations, the method includes determining an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information. In some implementations, the method includes receiving a moment of inertia, a rotational damping function, and a pole pair count of the input element and the output element to determine the input torque or the output torque. In some implementations, the method includes providing the moment of inertia, the rotational damping function, and the pole pair count of the input element or the output element prior to operation of the electromagnetic device. In some implementations, the method includes determining the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element during operation of the electromagnetic device. In some implementations, the method includes determining the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element.

[0040] In some implementations, a system for contactless torque sensing of an electromagnetic device, the system can include: a first rotating element, wherein an input torque applied to the first rotating element; a second rotating element magnetically coupled to the first rotating element, wherein the second rotating element is configured to provide an output torque; a reference element maintained in a spaced relationship from the first rotating element and the second rotating element; a first sensor configured to transduce the change in kinematic information of the first rotating element; a second sensor configured to transduce the change in kinematic information of the second rotating element; at least one temperature sensing element coupled to the reference element, the at least one temperature sensing element configured to transduce a target temperature of the electromagnetic device; and an electronic device in communication with the first sensor, the second sensor, and the temperature sensing element, the electronic device including processing electronics and memory storing software instructions that when executed cause the processing electronics to process the measurements from the first sensor, the second sensor, and the temperature sensing element, wherein the electronic device is configured to execute the software instructions to at least: receive the measurements from the first sensor, the second sensor, and the temperature sensing element; process, with the processing electronics, the measurements to determine a torque applied by the second rotating element by identifying a characteristic torque of either the first rotatingelement or the second rotating element in a database based at least in part on the determined temperature, geometry of either the first rotating element or the second rotating element, and the materials of either the first rotating element or the second rotating element, wherein the database is stored in memory of the processing electronics; and output the determined torque applied to the second rotating element.

[0041] In some implementations, the second rotating element includes magnetically responsive material and is disposed between the first rotating element and the reference element, so as to modulate a magnetic field of at least one of the first rotating element and the reference element. In some implementations, the reference element includes magnetically responsive material and is disposed between the first rotating element and the second rotating element, so as to modulate a magnetic field of at least one of the first rotating element and the second rotating element. In some implementations, the first rotating element includes an input element. In some implementations, the first sensor and the second sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the temperature sensing element includes a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the memory further includes a database including of values corresponding to the characteristic torque.

[0042] In some implementations, a system for contactless torque sensing of an electromagnetic device, the system can include: a first sensor configured to transduce the change in kinematic information of a first rotating element; a second sensor configured to transduce the change in kinematic information of a second rotating element, wherein the second rotating element is maintained in a spaced relationship from the first rotating element; at least one temperature sensing element coupled to a reference element, wherein reference element is maintained in a spaced relationship from the first rotating element and the second rotating element, the temperature sensing element configured to transduce a temperature of a target location of the electromagnetic device; and processing electronics in communication with the first sensor, the second sensor, and the at least one temperature sensing element, the processing electronics including memory storing software instructions that when executed cause the processing electronics to process the measurements from the first sensor, the secondsensor, and the at least one temperature sensing element, wherein the electronic device is configured to execute the software instructions to at least: receive the measurements from the from the first sensor, the second sensor, and the at least one temperature sensing element; process, with the processing electronics, the measurements to determine a torque applied to an output element by searching a database including various characteristic torque values for a corresponding plurality of temperatures, the characteristic torque values of the electromagnetic device corresponding at least to the temperature, geometry of the electromagnetic device, and the materials of the electromagnetic device; and provide the determined torque applied to the second rotating element.

[0043] In some implementations, the second rotating element includes magnetically responsive material and is disposed between the first rotating element and the reference element, so as to modulate a magnetic field of at least one of the first rotating element and the reference element. In some implementations, the reference element includes magnetically responsive materials and is disposed between the first rotating element and the second rotating element, so as to modulate a magnetic field of at least one of the first rotating element and the second rotating element. In some implementations, the output element includes the second rotating element. In some implementations, the first rotating element includes an input element. In some implementations, the first sensor and the second sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the at least one temperature sensing element includes a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the memory further includes a database including of values corresponding to the characteristic torque.

[0044] In some implementations, a system configured to determine a torque of an electromagnetic device, the system can include: processing electronics and memory storing software instructions, the processing electronics configured to connect to a first sensor configured to transduce the change in kinematic information of a first rotating element and at least one temperature sensing element coupled to a reference element maintained in a spaced relationship from the first rotating element configured to transduce a temperature of the electromagnetic device, wherein the electronic device is configured to execute the softwareinstructions to at least: receive the measurements from the first sensor and the at least one temperature sensing element; process, with the processing electronics, the measurements to determine a torque applied to a second rotating element by searching a database including various characteristic torque values for a corresponding plurality of temperatures, the characteristic torque values of the electromagnetic device corresponding at least to the temperature, geometry of the electromagnetic device, and materials of the electromagnetic device; and provide the determined torque applied to the second rotating element.

[0045] In some implementations, the processing electronics are further configured to connect to a second sensor configured to transduce the change in kinematic information of the second rotating element, wherein the second rotating element is maintained in a spaced relationship from the first rotating element and the reference element. In some implementations, the second rotating element includes magnetically responsive material and is disposed between the first rotating element and the reference element, so as to modulate a magnetic field of at least one of the first rotating element and the reference element. In some implementations, the reference element includes magnetically responsive material and is disposed between the first rotating element and the second rotating element, so as to modulate a magnetic field of at least one of the first rotating element and the second rotating element. In some implementations, the second rotating element includes an output element. In some implementations, the first rotating element includes an input element.

[0046] In some implementations, the second sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the first sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the first sensor includes a resolver. In some implementations, the temperature sensing element includes a at least one of a thermocouple, a thermistor, a resistance temperature detector, and a silicon bandgap sensor. In some implementations, the memory further includes a database including values corresponding to the characteristic torque. In some implementations, the processing electronics are further configured to perform a feedback loop, wherein the processing electronics monitor the kinematic information, an input torque or an output torque, and the temperature to improve an efficiency of the electromagnetic device.

[0047] In some implementations, a method for torque sensing of an electromagnetic device, the method can include: obtaining data indicative of kinematic information of a first rotating element, kinematic information of a second rotating element, and a temperature of the electromagnetic device, wherein the electromagnetic device includes the first rotating element, the second rotating element, and a reference element magnetically coupled to one another; identifying from at least the temperature of the electromagnetic device a characteristic torque of the first rotating element; processing via processing electronics a radial position change of the first second rotating element and the second rotating element from the kinematic information and the characteristic torque of the first rotating element to determine an input torque or an output torque applied to the second rotating element; and providing the input torque or the output torque applied to the output element.

[0048] In some implementations, the characteristic torque is further identified by geometry and material selection at a given temperature. In some implementations, a first sensor senses the radial position change of the first rotating element and a second sensor senses the radial position change of the second rotating element. In some implementations, the first sensor and the second sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, at least one temperature sensing element is coupled to the reference element and configured to transduce the temperature of the electromagnetic device. In some implementations, the temperature sensing element includes a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

[0049] In some implementations, identifying the characteristic torque includes retrieving the characteristic torque from a look-up table. In some implementations, identifying the characteristic torque includes dynamically determining the characteristic torque during operation of the electromagnetic device. In some implementations, the first rotating element including an input element and the second rotating element includes an output element.

[0050] In some implementations, the method includes determining an angular velocity, angular position, angular displacement, and angular acceleration of the first rotating element or the second rotating element from the radial position change. In some implementations, the method includes receiving a moment of inertia, a rotational damping function, and a pole pair count of the first rotating element and the second rotating element todetermine a load torque applied to the output element. In some implementations, the method includes providing the moment of inertia, the rotational damping function, and the pole pair count of the first rotating element and the second rotating element prior to operation of the electromagnetic device. In some implementations, the method includes determining the moment of inertia, the rotational damping function, and the pole pair count of the first rotating element and the second rotating element during operation of the electromagnetic device. In some implementations, the method includes determining the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element.

[0051] In some implementations, an electromagnetic device can include: an input element to which an input torque is to be applied and an output element configured to provide an output torque, the output element magnetically coupled with the input element; a first sensor configured to transduce kinematic information of the input element or the output element, wherein the first sensor generates a first signal representative of the kinematic information; a second sensor configured to transduce a temperature at a target location of the electromagnetic device, wherein the second sensor generates a temperature signal representative of the temperature at the target location; and a transmission unit configured to output the first signal and the second signal over a wireless or wired channel.

[0052] In some implementations, the electromagnetic device includes processing electronics configured to receive the first signal and the second signal from the transmission unit and configured to: receive an output torque setting; determine an output torque value based at least in part on the kinematic information and the temperature; compare the determined output torque value to the output torque setting; and generate a signal when the determined output torque value meets the output torque setting. In some implementations, the processing electronics are further configured to generate a control signal to a drive system based at least in part on the determined output torque values, wherein the control signal is configured to modify a motion command to the drive system when the output torque setting exceeds or approaches the determined output torque value. In some implementations, the processing electronics are further configured to apply a compensation adjustment based at least on environmental parameters including temperature, humidity, vibration, and wind loads.

[0053] In some implementations, the processing electronics are further configured to generate the signal when the determined output torque value is in a range of 50% to 99% of the output torque setting. In some implementations, the processing electronics are further configured to generate the signal when the determined output torque value is at 100% of the output torque setting. In some implementations, the electromagnetic device includes an input interface configured to receive the output torque setting. In some implementations, the input interface includes a digital display, input buttons, a rotary dial, a touchscreen, a wireless transceiver, and a signal input from an external device configured to provide the output torque setting.

[0054] In some implementations, the electromagnetic device includes an audible indicator configured to emit a sound signal in response to the generated signal. In some implementations, the audible indicator emits a pattern of beeps at least based on the determined output torque value approaching the output torque setting. In some implementations, the electromagnetic device includes a visual indicator configured to emit a light signal in response to the generated signal.

[0055] In some implementations, the processing electronics is configured to disable operation of the electromagnetic device once the determined output torque value exceeds the output torque setting. In some implementations, the processing electronics causes a slip torque.

[0056] In some implementations, the electromagnetic device includes a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the output torque based at least in part on the kinematic information from the first sensor and the third sensor and the temperature. In some implementations, the first sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the output torque applied by the electromagnetic device is controlled based at least on a predefined or user-selected torque profile.

[0057] In some implementations, the transmission unit is further configured to transmit the first signal and the second signal for data logging at a local storage device or a remote system. In some implementations, the electromagnetic device includes a user authentication system configured to enable operation of the electromagnetic device upon successful authentication of a user. In some implementations, the electromagnetic deviceincludes a self-calibration module configured to detect wear and tear in one or more components of the electromagnetic device and adjust operational parameters to compensate for performance degradation.

[0058] In some implementations, an electromagnetic device can includes: an input element to which an input torque is to be applied and an output element configured to provide an output torque, the output element magnetically coupled with the input element; and processing electronics configured to receive a first signal representative of kinematic information of the input element or the output element and a second signal representative of a temperature at a target location of the electromagnetic device, wherein the processing electronics generate a signal when an output torque value based at least in part on the kinematic information and the temperature and meets an output torque setting.

[0059] In some implementations, the electromagnetic device includes a first sensor configured to transduce the kinematic information of the input element or the output element, wherein the first sensor generates the signal representative of the kinematic information. In some implementations, the electromagnetic device includes a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the output torque based at least in part on the kinematic information from the first sensor and the third sensor and the temperature. In some implementations, the first sensor includes at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, the electromagnetic device includes a second sensor including a temperature sensor and configured to transduce the temperature at the target location of the electromagnetic device, wherein the second sensor generates the temperature signal representative of the temperature at the target location.

[0060] In some implementations, the processing electronics are further configured to: receive the output torque setting; and compare the output torque value to the output torque setting. In some implementations, the electromagnetic device includes an input interface configured to receive the output torque setting. In some implementations, the input interface includes at least one of a digital display, input buttons, a rotary dial, a touchscreen, a wireless transceiver, and a signal input from an external device configured to provide the output torque setting.

[0061] In some implementations, the electromagnetic device includes an audible indicator configured to emit a sound signal in response to the generated signal. In some implementations, the audible indicator emits a pattern of beeps at least based on the output torque value approaching the output torque setting. In some implementations, the electromagnetic device includes a visual indicator configured to emit a light signal in response to the generated signal.

[0062] In some implementations, the processing electronics is configured to disable operation of the electromagnetic device once the output torque value exceeds the output torque setting. In some implementations, the processing electronics induces a slip torque. In some implementations, the processing electronics are further configured to generate a control signal to a drive system based at least in part on the determined output torque values, wherein the control signal is configured to modify a motion command to the drive system when the output torque setting exceeds or approaches the determined output torque value.

[0063] In some implementations, the output torque applied by the electromagnetic device is controlled based at least on a predefined or user-selected torque profile. In some implementations, the processing electronics are furthered configured to apply a compensation adjustment based at least on environmental parameters including temperature, humidity, vibration, and wind loads. In some implementations, the processing electronics are furthered configured to generate the signal when the determined output torque value is in a range of 50% to 99% of the output torque setting. In some implementations, the processing electronics are furthered configured to generate the signal when the determined output torque value is at 100% of the output torque setting.

[0064] In some implementations, the processing electronics are furthered configured to transmit the first signal and the second signal for data logging at a local storage device or a remote system. In some implementations, the electromagnetic device includes a user authentication system configured to enable operation of the electromagnetic device upon successful authentication of a user. In some implementations, the electromagnetic device includes a self-calibration module configured to detect wear and tear in one or more components of the electromagnetic device and adjust operational parameters to compensate for performance degradation.

[0065] In some implementations, a method for operating an electromagnetic device, the method can include: receiving an output torque setting; obtaining data indicative of kinematic information of an input element and kinematic information of an output element, and a temperature of the electromagnetic device, wherein the electromagnetic device includes the input element and the output element, the output element magnetically coupled with the input element; processing, via processing electronics, a change in the kinematic information of the input element and the output element and the temperature to determine an output torque value; comparing the determined output torque value to the output torque setting; and generating a signal when the determined output torque value meets the output torque setting.

[0066] In some implementations, a first sensor senses the change in the kinematic information of the input element and a second sensor senses the change in the kinematic information of the output element. In some implementations, the first sensor and the second sensor include at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder. In some implementations, receiving the output torque setting includes inputting the output torque setting via an input interface.

[0067] In some implementations, the input interface includes at least one of a digital display, input buttons, a rotary dial, a touchscreen, a wireless transceiver, and a signal input from an external device configured to provide the output torque setting corresponding to the output torque setting. In some implementations, generating the signal includes emitting a sound signal in response to the generated signal via an audible indicator. In some implementations, the audible indicator emits a pattern of beeps at least based on the determined output torque value approaching the output torque setting. In some implementations, generating the signal includes emitting a light signal in response to the generated signal via a visual indicator. In some implementations, the method includes disabling operation of the electromagnetic device once the determined output torque value exceeds the output torque setting. In some implementations, disabling operation of the electromagnetic device includes causing a slip torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] These and other features, aspects, and advantages of the disclosure are described with reference to drawings of certain embodiments, which are intended to illustrate, but not to limit, the present disclosure. It is to be understood that the accompanying drawings,which are incorporated in and constitute a part of this specification, are for the purpose of illustrating concepts disclosed herein and may not be to scale.

[0069] FIG. 1 illustrates a perspective view of an exemplary electromagnetic device comprising magnetic gears, according to various implementations of the present disclosure.

[0070] FIG. 2 illustrates a schematic perspective view of another exemplary electromagnetic device, according to various implementations of the present disclosure.

[0071] FIG. 3 illustrates a schematic cross-sectional view of another exemplary electromagnetic device, according to various implementations of the present disclosure.

[0072] FIG. 4 illustrates a schematic section view taken along the line 4-4 in FIG. 3 of the electromagnetic device, according to various implementations of the present disclosure.

[0073] FIG. 5 illustrates a perspective view of another exemplary electromagnetic device comprising a compact axial flux magnetically geared machine, according to various implementations of the present disclosure.

[0074] FIG. 6 illustrates a schematic perspective view of another exemplary electromagnetic device, according to various implementations of the present disclosure.

[0075] FIG. 7 illustrates a schematic perspective view of another exemplary electromagnetic device, according to various implementations of the present disclosure.

[0076] FIG.8 illustrates a schematic section view taken along the line B-B in FIG. 6, according to various implementations of the present disclosure.

[0077] FIG. 9 illustrates an example graph of temperature versus characteristic torque, according to various implementations of the present disclosure.

[0078] FIG. 10 illustrates a schematic feedback loop to dynamically operate an electromagnetic device, according to various implementations of the present disclosure.

[0079] FIG.11 illustrates a perspective view of another exemplary electromagnetic device comprising a cycloidal magnetically geared machine, according to various implementations of the present disclosure.

[0080] FIG. 12A illustrates a schematic perspective view of a conventional electromagnetic tool.

[0081] FIG. 12B illustrates a schematic internal perspective view of another example of the conventional electromagnetic tool of FIG. 12A.

[0082] FIG. 13 illustrates a schematic perspective view of an example electromagnetic device, according to various implementations of the present disclosure.

[0083] FIG.14 illustrates a schematic section view of the example electromagnetic device of FIG. 13, according to various implementations of the present disclosure. DETAILED DESCRIPTION

[0084] Although several implementations, examples, and illustrations are disclosed below, it will be understood by those of ordinary skill in the art that the devices, systems, and methods described herein extend beyond the specifically disclosed implementations, examples, and illustrations and includes other uses of the devices, systems, and methods and obvious modifications and equivalents thereof. Implementations are described with reference to the accompanying figures, wherein like numerals refer to like elements throughout. The terminology used in the description presented herein is not intended to be interpreted in any limited or restrictive manner simply because it is being used in conjunction with a detailed description of some specific implementations of the devices, systems, and methods. In addition, implementations can comprise several novel features. No single feature is solely responsible for its desirable attributes or is essential to practicing the devices, systems, and methods herein described.

[0085] The present disclosure may be understood by reference to the following detailed description. It is noted that, for purposes of illustrative clarity, certain elements in various drawings may not be drawn to scale, may be represented schematically or conceptually, or otherwise may not correspond exactly to certain physical configurations of implementations.

[0086] The torque of a rotor on a magnetic gear is a sinusoidal function of the torque angle (relative electromagnetic position of the rotors of the gear) scaled by the number of pole pairs on that rotor times the characteristic torque (^^), which is a measurable temperature-dependent parameter of a magnetic gear based at least in part on the geometry of the gear and material selection for components of the gear. Torque is the measure of a rotational force acting on an object. Torque sensing involves the measurement and detection of rotational force applied to an object. Torque sensing is often used for feedback control of mechanisms such as rotary electromechanical actuators. Torque sensing is typically achievedthrough an expensive and bulky external strain gauge or magnetoelastic transducer, or is inaccurately measured by sensing current into the electric motor and calculating torque; this results in an increase in total system cost and size. “Coaxial Magnetic Gear-based Tool- Changing System” by Hangyeol Song on IEEE Access proposing the use of encoders for non- contact torque sensing of a , but does not address the fundamental need to include magnet temperature into the model – rendering the results too inaccurate outside the lab setting.

[0087] The present disclosure describes a method of torque sensing by measuring (or estimating) a temperature of an electromagnetic device and a position of two permanent magnet rotors. This approach can be applied to any linear or rotary magnetic device that employs a plurality of sets of permanent magnets and / or ferromagnetic elements for torque transfer – such as a magnetic coupling, radial magnetic gear, coaxial magnetic gear, cycloidal- type magnetic gear, and / or a magnetic gear integrated motor-generator (MGM). The position of the two moving elements can be measured; e.g., in the case of the magnetic gear integrated motor-generator, the position of the rotating modulator rotor and magnet rotor can be the elements being position-sensed. In some implementations of a magnetic gear, it is difficult to accurately measure the position of the magnet rotor. Instead, the position of the shaft holding the magnet rotor can be measured. This approach can still be acceptable, so long as the shaft deflection is considered when calculating torque from measured relative positions.

[0088] By eliminating costly and bulky torque or current sensors, and instead employing one or a plurality of motion sensors (e.g., encoder) and at least one temperature sensor (e.g., thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor) for temperature measurements, position (velocity and acceleration derivable), and torque sensing, this solution will reduce cost and size while maintaining accuracy for rotary mechanisms such as electromechanical actuators.

[0089] FIG. 1 illustrates a perspective view of an exemplary electromagnetic device 100 (e.g., a magnetically geared motor generator) comprising magnetic gears. The electromagnetic device 100 can comprise an input element 110 (e.g., a high-speed inner rotor) (also referred to herein as an “inner element”) in which an input torque (^ெ) is to be applied and an output element 120 (e.g., a low-speed rotor, which can also comprise magnetically responsive material 140 (e.g., a plurality of soft magnetic pole pieces) in some implementations) (also referred to herein as an “intermediary element”) to provide an outputtorque (^^). In some implementations, the input element 110 and output element 120 can be reverse roles such that the an input torque (^^) is applied the output element 120 and the input element 110 provides an output torque (^ெ), and vice versa. Additionally or alternatively, an input torque can be applied to the magnetically responsive material 140, described below, or the magnetically responsive material 140 can provide an output torque such that the magnetically responsive material 140 assumes the role of the input element 110 or the output element 120. In such a case, either of the components identified as the input element 110 or output element 120 can be stationary or apply / provide a torque. The output element 120 can be coupled (e.g., magnetically coupled) with the input element 110. The input torque (^ெ) can be transferred (e.g., converted into) to the output torque (^^) via the input element 110 and output element 120. In some implementations, for any of the devices mentioned herein, the input element 110 and the output element 120 comprise respective input and output gears, wherein the input and output gears have a gear ratio of greater than 1:1. In other implementations, the input element 110 and the output element 120 cooperate to define a magnetic coupling having a gear ratio of 1:1. In some implementations, the electromagnetic device 100 can include an outer element 130 (e.g., an outer rotor and / or a stator). In some implementations, one of or both of the input element 110 and / or the output element 120 can comprise rotors. The input element 110, the output element 120, and the outer element 130 can all be centered about an operational axis 101 and can be located in the same axial location along the operational axis 101. The output element 120 can be located, shaped, and / or configured such that is it radially outward of the input element 110 and surrounds or at least partially surrounds the input element 110.

[0090] The input element 110 can include a first magnetic material 112 that comprises a first plurality of pole pairs 114 disposed around the operational axis 101. The first plurality of pole pairs 114 can include a first polarity region 116 and a second polarity region 118. The first polarity region 116 and / or second polarity region 118 can comprise pieces of permanent magnets. The first plurality of pole pairs 114 can comprise an alternating pattern of the first polarity region 116 and second polarity region 118 (e.g., the first polarity region 116 can be magnetized in a radially outward direction, while the second polarity region 118 can be magnetized in a radially inward direction, or vice versa). The first magnetic material 112 can be disposed around an outer surface of the of the input element 110 such that the firstmagnetic material 112 faces the output element 120, or, more specifically, the plurality of ferromagnetic pieces 142 of the output element 120. The structure of the output element 120 can be achieve any suitable gear ratio. In some implementations, the first magnetic material 112 and second magnetic material 132 are different. In other implementations, the first magnetic material 112 and second magnetic material 132 are the same.

[0091] The magnetically responsive material 140 (also referred to as “modulator element”) can be made of a ferromagnetic material such as magnetic steel and can be comprised of a stack of magnetic steel laminations. In some implementations, the magnetically responsive material 140 can modulate a magnetic field of at least one of the input element 110 and the outer element 130 (e.g., stationary element). In other implementations, the magnetically responsive material 140 can modulate a magnetic field of at least one of the input element 110 and the output element 120 (e.g., stationary element). The magnetically responsive material 140 can comprise a plurality of ferromagnetic pieces 142 (e.g., soft magnetic pole pieces). The plurality of ferromagnetic pieces 142 can be a single piece with a plurality of ferromagnetic sections. As such, it should be understood that the plurality of ferromagnetic pieces 142 can also refer to a plurality of ferromagnetic sections. The plurality of plurality of ferromagnetic pieces 142 can be spaced out within the magnetically responsive material 140. The plurality of ferromagnetic pieces 142 may be spaced out evenly, but they need not be. In between each individual ferromagnet of the plurality of ferromagnetic pieces 142, there may be a modulator gap 146. The modulator gap 146 can be an air gap or it can be filled by another component and / or material.

[0092] The plurality of ferromagnetic pieces 142 can be modulate the magnetic flux in order to create a magnetic coupling effect between input element 110 and the outer element 130. For example, the number and spacing of the plurality of ferromagnetic pieces 142 can be selected so as to modulate the magnetic flux in order to achieve a desired gear ratio for the device. For example, the number of ferromagnetic pieces 142 in relation to the number of pole pairs on each of the magnet elements can be selected so as to achieve any suitable gear ratio, e.g., 2:1, 3:1, 4:1, 5:1, etc. The gear ratio can include both integer and non-integer gear ratios. For example, the number of ferromagnetic pieces can be equal to the number of pole pairs 114 plus the number of pole pairs 134 discussed below. In various implementations, the gear ratio is a ratio of the number of ferromagnetic pieces to the number of pole pairs 114 (e.g.,if the outer element is stationary). In some implementations, the gear ratio can be the negative ratio of the number of pole pairs 134 to the number of pole pairs 114 (e.g., if the modulators or soft magnetic pole pieces are stationary).

[0093] The outer element 130 can be a permanent magnetic structure. The outer element 130 can be a could be a surface permanent magnet structure, a Halbach array of magnets, a flux-focusing magnet assembly, a consequent pole magnet assembly, and / or a reluctance structure. The outer element 130 can be located, shaped, and / or configured such that is it radially outward of the output element 120 and surrounds or at least partially surrounds the output element 120. The outer element 130 can comprise a second magnetic material 132 including a second plurality of pole pairs 134 disposed about the operational axis 101. The second magnetic material 132 can be different than the first magnetic material 112. The second plurality of pole pairs 134 can include a first polarity region 136 and a second polarity region 138. The second plurality of pole pairs 134 can comprise an alternating pattern of the first polarity region 136 and second polarity region 138. The second magnetic material 132 can be disposed on an inside surface of the outer element 130, such that it faces the output element 120, or, more specifically, the plurality of ferromagnetic pieces 142 of the output element 120. The outer element 130 and the input element 110 can define a radial flux motor / generator. The outer element 130 can include a plurality of windings 131 as shown in FIG. 1. The plurality of windings 131 of the outer element 130 can interact with the input element 110, causing the input element 110 to rotate. This interaction between the outer element 130 and the input element 110 can be characterized as a radial flux magnetic interaction.

[0094] The output element 120, which can serve as a magnetically responsive material 140 and / or an output element, can facilitate a connection between the input element 110 and the outer element 130, such that the input element 110, in which an input torque is applied, drives the output element 120. The output element 120 can be driven at a lower speed with higher torque output than the input element 110. The input element 110 can produce radially oriented magnetic flux to interact with magnetically responsive material 140 and a radially oriented set of magnets of the outer element 130. The input element 110 can drive, or be driven in some implementations by, the rotation of the output element 120. In some implementations, the outer element 130 can be fixed such that is becomes a stationary element, and the input element 110 and the magnetically responsive material 140 can rotate. In otherimplementation, the magnetically responsive material 140 can be a fixed component and the outer element 130 can rotate. In some implementations, this interaction between input element 110, magnetically responsive material 140, and outer element 130 may be characterized as a radial flux magnetic gear.

[0095] FIG. 2 illustrates a schematic perspective view of another electromagnetic device 155 (e.g., a flux coaxial magnetic gear). The electromagnetic device 155 can comprise an input element 110 (e.g., a high-speed inner rotor) (also referred to herein as an “inner element”) in which an input torque (^ெ) is to be applied and an outer element 130 (e.g., a low- speed rotor) (also referred to herein as an “intermediary element”) to provide an output torque (^^). In some implementations, the outer element 130 can be an output element 120. The outer element 130 can be magnetically coupled with the input element 110. The input torque (^ெ) can be transferred (e.g., converted into) to the output torque (^^) via the input element 110 and outer element 130 (e.g., the output element 120). In some implementations, the input element 110 and the outer element 130 comprise respective input and output gears, wherein the input and output gears have a gear ratio of greater than or less than 1:1. For example, the gear ratio can be greater than at least 200:1, at least 150:1, at least 125:1, at least 100:1, at least 75:1, at least 60:1, at least 50:1, at least 40:1, at least 30:1, at least 25:1, at least 20:1, at least 15:1, at least 12:1, at least 10:1, at least 9:1, at least 8:1, at least 7:1, at least 6:1, at least 5:1, at least 4:1, at least 3:1, or at least 2:1. In other examples, the gear ratio can be less than at most 1:200, at most 1:175, at most 1:150, at most 1:125, at most 1:100, at most 1:75, at most 1:60, at most 1:50, at most 1:40, at most 1:30, at most 1:25, at most 1:20, at most 1:15, at most 1:12, at most 1:10, at most 1:9, at most 1:8, at most 1:7, at most 1:6, at most 1:5, at most 1:4, at most 1:3, or at most 1:2. In other implementations, as shown in FIG. 7, the input element 110 and the output element 120 (see input element 210 and output element 220 in FIG. 7) cooperate to define a magnetic coupling having a gear ratio of 1:1. In some implementations, the electromagnetic device 155 can include an magnetically responsive material 140. In some implementations, the magnetically responsive material 140 can be the output element 120. In some implementations, one of or both of the input element 110 and / or the outer element 130 can comprise rotors. The input element 110, the outer element 130, and the magnetically responsive material 140 can all be centered about an operational axis 101 and can be located in the same axial location along the operational axis 101. The outer element 130 can be located,shaped, and / or configured such that is it coaxially aligned with the input element 110 and surrounds or at least partially surrounds the input element 110. In some implementations, the output element 120 can be stationary and the magnetically responsive material 140 can rotate as the output element 120 and vice versa.

[0096] The input element 110 can include a first magnetic material 112 that comprises a first plurality of pole pairs 114 disposed around the operational axis 101. The first plurality of pole pairs 114 can include a first polarity region 116 and a second polarity region 118. The first polarity region 116 and / or second polarity region 118 can comprise pieces of permanent magnets. The first plurality of pole pairs 114 can comprise an alternating pattern of the first polarity region 116 and second polarity region 118. The first magnetic material 112 can be disposed around an outer surface of the of the input element 110 such that the first magnetic material 112 faces the output element 120, or, more specifically, the plurality of ferromagnetic pieces 142 of the output element 120. The structure of the output element 120 can be achieve any suitable gear ratio.

[0097] The magnetically responsive material 140 (also referred to as “modulator element”) can be made of a ferromagnetic material such as magnetic steel and can be comprised of a stack of magnetic steel laminations. In some implementations, the magnetically responsive material 140 can modulate a magnetic field of at least one of the input element 110 and the output element 120. The magnetically responsive material 140 can comprise a plurality of ferromagnetic pieces 142 (e.g., soft magnetic pole pieces). The plurality of ferromagnetic pieces 142 can be a single piece with a plurality of ferromagnetic sections. As such, it should be understood that the plurality of ferromagnetic pieces 142 can also refer to a plurality of ferromagnetic sections. The plurality of plurality of ferromagnetic pieces 142 can be spaced out within the magnetically responsive material 140. The plurality of ferromagnetic pieces 142 may be spaced out evenly, but they need not be. In between each individual ferromagnet of the plurality of ferromagnetic pieces 142, there may be a modulator gap 146. The modulator gap 146 can be an air gap or it can be filled by another component and / or material.

[0098] The plurality of ferromagnetic pieces 142 can be modulate the magnetic flux in order to create a magnetic coupling effect between input element 110 and the output element 120. For example, the number and spacing of the plurality of ferromagnetic pieces 142 can be selected so as to modulate the magnetic flux in order to achieve a desired gear ratiofor the device. For example, the number of ferromagnetic pieces 142 in relation to the number of pole pairs on each of the magnet elements can be selected so as to achieve any suitable gear ratio, e.g., 2:1, 3:1, 4:1, 5:1, etc. For example, the number of ferromagnetic pieces can be equal to the number of pole pairs 114 plus the number of pole pairs 134 discussed below. In various implementations, the gear ratio is a ratio of the number of ferromagnetic pieces to the number of pole pairs 114 (e.g., if the outer element is stationary). In some implementations, the gear ratio can be the negative ratio of the number of pole pairs 134 to the number of pole pairs 114 (e.g., if the modulators or soft magnetic pole pieces are stationary).

[0099] The output element 120 (e.g., the outer element 130 in some implementations) can be located, shaped, and / or configured such that it is coaxially outward of the input element 110 and surrounds or at least partially surrounds the magnetically responsive material 140. The output element 120 can comprise a second magnetic material 132 including a second plurality of pole pairs 134 disposed about the operational axis 101. The second magnetic material 132 can be different than the first magnetic material 112. The second plurality of pole pairs 134 can include a first polarity region 136 and a second polarity region 138. The second plurality of pole pairs 134 can comprise an alternating pattern of the first polarity region 136 and second polarity region 138. The second magnetic material 132 can be disposed on an inside surface of the output element 120, such that it faces magnetically responsive material 140, or, more specifically, the plurality of ferromagnetic pieces 142 of the magnetically responsive material 140.

[0100] The magnetically responsive material 140 can facilitate a connection between the input element 110 and the output element 120, such that the input element 110, in which an input torque is applied, drives the output element 120. The output element 120 can be driven at a lower speed with higher torque output than the input element 110. The input element 110 can produce radially oriented magnetic flux to interact with magnetically responsive material 140 and a radially oriented set of magnets of the output element 120. The input element 110 can drive, or be driven in some implementations by, the rotation of the output element 120. In some implementations, magnetically responsive material 140 can be fixed such that is becomes a stationary element, and the input element 110 and the output element 120.

[0101] FIG. 3 illustrates a schematic cross-sectional view of another electromagnetic device 175 (e.g., a flux angle mapping gear, also mentioned herein as a “concentric gear system”). The electromagnetic device 175 can be similar to the electromagnetic device 155. For example, the electromagnetic device 175 can include an input element 110 having a first magnetic material 112 with a first plurality of pole pairs 114. The another electromagnetic device 175 can further include an output element 120 having a second magnetic material 132 with a second plurality of pole pairs 134. Disposed in between the first magnetic material 112 and the second magnetic material 132 can be magnetically responsive material 140, which can be disposed between the first plurality of pole pairs 114 and the second plurality of pole pairs 134. The magnetically responsive material 140 can include plurality of ferromagnetic pieces 142. The magnetically responsive material 140 can have shaped modulator segments 148. Each modulator segment of the modulator segments 148 can map an electromagnetic angle from the first plurality of pole pairs 114 to the second plurality of pole pairs 134. The number of modulator segments 148 does not need to be related to the number of pole pairs in the first plurality of pole pairs 114 and / or the second plurality of pole pairs 134.

[0102] FIG.11 illustrates a perspective view of another electromagnetic device 195 (e.g., a cycloidal magnetically geared machine). The electromagnetic device 195 can be similar to the electromagnetic device 155. For example, the electromagnetic device 195 can include an input element 110 having a first magnetic material 112 with a first plurality of pole pairs 114. The electromagnetic device 195 can further include an output element 120 (which can also be a stator that is fixed) having a second magnetic material 132 with a second plurality of pole pairs 134. However, the electromagnetic device 195 operates at least based on cycloidal motion, where one component (e.g., input element 110) moves in a cycloidal path, a type of curve described by a point on the circumference of a circle as it rolls along a straight line. As the input element 110 moves, the cycloidal arrangement of magnets creates a rolling motion, transferring torque through magnetic forces. The input element 110 thus rotates around its own axis, and the axis of the input element 110 orbits the stationary axis of the output element 120. A non-uniform air gap modulates spatial harmonics from the two sets of magnets (e.g., first magnetic material 112 and second magnetic material 132). This designcombines the smooth, rolling contact of cycloidal gears and the non-contact benefits of magnetic gears, resulting in high efficiency and minimal wear.

[0103] FIG. 4 illustrates a schematic section view taken along the line 4-4 in FIG. 3 of the electromagnetic device 175. As shown in FIG.4, the electromagnetic device 100 can include one or more sensors 150 to measure kinematic information (e.g., an angular motion such as angular velocity, angular position, angular displacement, and / or angular acceleration) of the input element 110 and / or the output element 120, or whichever element(s) of the electromagnetic device 100 is in motion. In some implementations, there is only one sensor 150. The sensors 150 can comprise encoders, such as resolver encoders which utilize a rotating transformer to produce a signal that varies with the rotational position, optical encoders which convert light patterns into electrical signals that can be interpreted by a controller or computer, magnetic encoders which use a magnet and a sensor array to detect changes in the magnetic field of a moving object, etc. In some implementations, the sensors 150 comprise one or more hall effect sensors , such as unipolar sensors which detect a single magnetic polarity to switch output states, bipolar sensors which require alternating magnetic polarities to toggle output, omnipolar sensors which respond to either north or south magnetic poles for greater flexibility, or linear hall sensors which provide an analog voltage output proportional to the strength of the magnetic field, enabling measurement of position, speed, and / or current. For example, the hall effect sensor can measure absolute rotor position. The hall effect sensors can be positioned on the input element 110 and / or output element 120 (e.g., positioned on the first magnetic material 112 and / or the second magnetic material 132). The electromagnetic device 100 can include a first sensor 152 and / or second sensor 154 to measure kinematic information of either the input element 110 and / or output element 120, which comprise the rotating elements. The sensors 150 can generate a signal representative of the kinematic information to a microelectronic component 160 comprising processing electronics 161. The microelectronic component 160 and the processing electronics 161 can be in electrical communication with the sensors 150. The sensors 150 (e.g., encoders and resolvers) can be smaller and less expensive than torque transducers and are also not as sensitive to temperature. In some implementations, the electromagnetic device 100 can include a second sensor 154 to measure an kinematic information of either the input element 110 and / or the output element 120, such that both the input element 110 and the output element 120 are measured by the sensors 150.

[0104] The electromagnetic device 100 can further include a third sensor 170 (e.g., a temperature sensor). In some implementations, the electromagnetic device 100 can include a plurality of sensors 170 which provide a signal that, after processing, can be interpreted as a single representative value of the temperature within the device 100. The third sensor 170 can measure a temperature at a target location of the electromagnetic device 100. For example, the target temperature can be measured at the input element 110, the output element 120, the outer element 130, the plurality of windings 131, magnetically responsive material 140, or anywhere else suitable for measuring temperature, such as inner and outer rotors (e.g., for a cycloidal magnetic gear). The third sensor 170 can further generate a temperature signal representative of the temperature at the target location to the processing electronics 161 of the microelectronic component 160. In some implementations, the processing electronics 161 determine temperatures at various locations of the electromagnetic device 100 at least based on the measured temperature and other known parameters of the electromagnetic device 100. In some implementations, the third sensor 170 can comprise a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. A thermocouple measures temperature based on the Seebeck effect, which occurs when two different metals are joined at two junctions, creating a temperature difference. One junction can be placed at the point where the temperature is to be measured (measuring junction), while the other remains at a known reference temperature (reference junction). This temperature difference generates a thermoelectric voltage proportional to the difference between the junctions. The generated voltage is measured and converted into a temperature reading. In some implementations, the target temperature location comprises the outer element 130 in such implementations in which the outer element 130 is a stationary element. In other implementations, the target location can comprise the output element 120 in such implementation in which the intermediary element 120 is a stationary element. Additionally or alternatively, the target location can comprise the input element 110.

[0105] The processing electronics 161 of the microelectronic component 160 can comprise electronic components and circuitry that interpret and convert raw sensor data (e.g., kinematic information signals and / or temperature signals) into information, which can be utilized for monitoring, control, and / or further analysis. The processing electronics 161 can include amplifiers, analog-to-digital converters (ADCs), signal conditioning circuits,microcontrollers, and / or sometimes specialized integrated circuits (ICs). In some configurations, the processing electronics can also incorporate a Graphics Processing Unit (GPU), which can be utilized for parallel processing of large data sets or for executing compute-intensive algorithms such as those used in real-time signal analysis or machine learning applications. These components can function together to amplify the electrical signals generated by the sensors discussed above, filter out noise, and / or digitize the signals for processing by a microcontroller or processor. The microcontroller can execute computer- implemented instructions that interpret the digitized signals, applying necessary calibrations, compensations, and conversions based on pre-determined algorithms to output accurate and reliable measurements. The processing electronics can also incorporate communication modules to transmit the processed data to external systems or interfaces for real-time monitoring and control. Additionally, the processing electronics 161 can also include memory components. The memory can store raw sensor data, calibration coefficients, processing algorithms, and / or measurement results. The memory can comprise RAM (Random Access Memory) for temporary storage during processing and non-volatile memory like EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory for retaining data even when the system is powered off.

[0106] The processing electronics 161 can determine one or both of the input torque (^ெ) of the input element 110 and / or the output torque (^^) of the output element 120 based at least in part on the measured angular displacement(s) received from the sensors 150 and the measured temperature received from the third sensor 170. The processing electronics 161 can receive the first signal representative of the kinematic information and the temperature signal representative of the temperature at the target location. In some implementations, the processing electronics 161 can receive a second signal representative of a second kinematic information. The processing electronics 161 can also produce a signal representative of the input torque (^ெ) or the output torque (^^). Additionally, the memory of the processing electronics 161 can store a database (e.g., look-up table) comprising a plurality of values of a characteristic torque (τC) of the electromagnetic device 100 at a corresponding plurality of temperatures, where the input torque (^ெ) or the output torque (^^) can determine based at least in part on the characteristic torque. Additionally, the number of magnetic poles (e.g., first plurality of pole pairs 114, second plurality of pole pairs 134, first plurality of pole pairs 214,and second plurality of pole pairs 234) of the input element 110 and the output element 120 can be stored in the processing electronics 161 for determining the input torque (^ெ) or the output torque (^^). In implementations in which there is no stationary body, then only the number of pole pairs of the input element 110 or output element 120 needs to be known. In some implementation, the characteristic torque (τC) values can be stored at a gate level rather than in a look-up table to improve calculation speed. Various material properties can be pre- selected such that the processing electronics 161 can quickly determine the characteristic torque (τC) based at least in part on the measured temperature, e.g., by sorting a look up table (LUT) to identify the characteristic torque at a particular measured temperature. In some implementations, to support rapid and deterministic torque calculations, the processing electronics 161 can incorporate hardware-accelerated logic such as field-programmable gate arrays (FPGAs). For example, characteristic torque (τC) values can be implemented directly at the gate level using FPGA logic, rather than through software-managed look-up tables, allowing for real-time evaluation. Dedicated FPGA blocks or digital signal processing (DSP) slices can be configured to receive temperature and kinematic information signals and map them to pre-defined torque characteristics using parallelized logic paths. This gate-level implementation can reduce latency and avoids sequential memory access, enabling faster torque estimation, particularly in high-frequency sampling applications or systems with real- time control requirements. Additionally, material property data and calibration coefficients can be pre-synthesized into the FPGA configuration or stored in high-speed memory (e.g., block RAM) to allow immediate access during operation. Additionally or alternatively, in some implementations, the processing electronics 161 can dynamically determine the characteristic torque during operation of the electromagnetic device 100, for example by computing characteristic torque (τC) from real-time measurements and machine-learned models.

[0107] Characteristic torque (τC) of an electromagnetic device can be found through empirical tests in which a configuration is tested at various temperatures (e.g., -50℃ to 150℃). To determine and estimate the characteristic torque (τC), the processing electronics 161 can also monitor a slip torque of the input element 110 and the output element 120 of the electromagnetic device 100 at a plurality of temperature as further described below. As previously mentioned, the input element 110 can be magnetically coupled with the outputelement 120. Slip torque is the torque at an unstable equilibrium in which the magnetic forces between the interacting magnetic elements (such as permanent magnets) are overcome, resulting in relative motion or "slip" between the input and output shafts (e.g., input element 110 and output element 120). The relative motion can be a samp forward or a snap back depending on various conditions. Slip torque defines the maximum load that the magnetic gear can handle before losing synchronization, ensuring efficient torque transmission without mechanical contact. One method for determining the characteristic torque (τC) of the electromagnetic device 100 can comprise fixing the output element 120 to prevent rotation of the output element 120. An input torque (^ெ) can be applied to the input element 110. The processing electronics 161 can monitor the kinematic information of the input element 110 via the sensors 150 and determine the slip torque occurring at a peak torque applied to the input element 110 and at a first temperature (the slip torque occurring when the output element 120 slips from the input element 110). The characteristic torque (τC) can be calculated at least based in part on the identified slip torque the measured temperature, and / or the number of pole pairs on the element of which slip torque is being measured. Several iterations at various temperatures can be performed to create a database (e.g., look-up table) of characteristic torque (τC) at a plurality of corresponding temperatures.

[0108] In some implementations, the processing electronics 161 can determine the input torque (^ெ) or the output torque (^^) at least based on at a locked rotor condition of the electromagnetic device 100 and the kinematic information of the input element 110 and / or the output element 120. The characteristic torque (τC) can be captured while one element (e.g., input element 110 and / or output element 120) is locked mechanically, and the other element (e.g., input element 110 and / or output element 120) is free to spin, and temperature of the electromagnetic device 100 is controlled and held constant (e.g. placing the electromagnetic device 100 in a thermally controlled test chamber, locking one element, and allowing the other element to rotate in a controlled way). A torque sensor can be affixed to either the locked element and / or the rotating element during this test. At a known temperature, a non-locked element (e.g., the input or output rotor) can be incrementally moved until the magnetic field alignment reaches 90 electrical degrees, corresponding to the peak of the sine term of Equations 1 and / or 2 (e.g., just before magnetic slip). This condition can refer to the electrical angle, where the magnetic field transitions between poles, rather than a 90° mechanical rotationof the rotor. At this point, the characteristic torque (τC) can be estimated from the measured torque, adjusted using the known gear ratio. This approach can account for differences in gear type and rotor locking configurations, where torque relationships can vary depending on whether the input rotor or the output rotor is held fixed. For example, in systems with differing pole pair counts, the gear ratio (GR= ^^ / ^^), where ^^is the number of pole pairs on the low- speed rotor (e.g., the output element 120) and ^^is the number of pole pairs on the high-speed rotor (e.g., the input element 110), remains constant under normal operation and can provide a basis for torque estimation. For example, if 10 Nm is measured on the output element 120 that has 10 pole pairs, then the characteristic torque (τC) can be estimated as 1 Nm by dividing the measured torque by the number of pole pairs. Since the input element 110 has 4 pole pairs, the gear ratio is 10:4, or 2.5:1. Because the characteristic torque (τC) is a constant of the gear system, the characteristic torque (τC) remains the same for both elements. Therefore, if the input element 110 has 4 pole pairs, the corresponding slip torque of the input element 110 would be 4 Nm, while the slip torque on the output element 120 is 10 Nm, and the characteristic torque is 1 Nm. Different number of pole pairs on each element can transform the observed torque. If the peak of the sine term is not known, then the characteristic torque (τC) is the highest sine value measured divided by the pole pairs of the element measured (so long as the sensor is not in error). The process can be repeated at various controlled temperatures capturing the temperature boundary conditions (e.g., if the application will run from negative 20℃ to positive 80℃, then boundary conditions are to be captured along with data points in between; e.g., in this case -20℃, 0℃, 20℃, 60℃, 80℃). A polynomial fit can be applied to approximate the curve of the characteristic torque (τC) at several temperatures. Thus, since the characteristic torque (τC) is a function of temperature and the best fit curve is known, the processing electronics 161 can calculate and predict the characteristic torque (τC).

[0109] Additionally, the characteristic torque (τC) can be found dynamically by utilizing machine learning. The sensors 150 and / or the sensor 170, as well as other sensors such as torque sensors monitoring the input element 110 and / or the output element 120, can collect data of the operating conditions of any of the electromagnetic devices 100, 155, 175, 195 discussed herein to create a training dataset. Additionally, outputs (e.g., torque) from the of any of the electromagnetic devices 100, 155, 175, 195 can be inputted into the learning model so that the model can learn to relate kinematic information and temperature (inputs) totorque (outputs). Preprocessing of the data can remove noise or outliers, ensuring the quality of the dataset. The data can be normalized to a consistent scale to facilitate machine learning model training. An appropriate machine learning algorithm can be selected for characteristic torque (τC) prediction, such as linear regression, decision trees, random forests, support vector machines, or neural networks. The dataset can be divided into training and validation sets to evaluate model performance. The selected machine learning model can be trained using the preprocessed data, learning the relationship between the input features and the output torque. The model parameters can be optimized using techniques like cross-validation and hyperparameter tuning to improve prediction accuracy. The trained machine learning model can be deployed in the control system of the electromagnetic rotor. The model can be integrated with real-time data acquisition systems to continuously receive input data from sensors 150 and / or the sensor 170. The deployed model can predict the characteristic torque (τC) of the electromagnetic devices 100, 155, 175, 195 in real-time based at least on the incoming sensor data, providing real-time characteristic torque (τC) readings to the processing electronics 161 for monitoring and optimization.

[0110] As explained herein, torque sensing can be used for feedback control of mechanisms such as electromagnetic devices (e.g., rotary electromechanical actuators). The processing electronics 161 can also be utilized in a feedback loop, as shown in FIG. 10, to monitor the kinematic information measured by the sensors 150, the input torque (^ெ) and / or the output torque (^^), a load L that opposes the output torque (^^) (e.g., a force that opposes the output torque (^^)), and the temperature measured by the sensor 170 to improve an efficiency of the electromagnetic device 100. The processing electronics 161 of the microelectronic component 160 can process the various parameters of the electromagnetic device 100 and provide instructions and / or data to a driver controller 164 providing instruction to a prime mover 180 (e.g., an engine, generator, etc.) connected to the input element 110. The prime mover 180 can provide data to the driver controller 164 and / or directly to the processing electronics 161 of the microelectronic component 160 related to its performance. The processing electronics 161, via the driver controller 164, can monitor the current (e.g., energy provided) for rotating the input element 110 and / or output element 120 and, while doing so, monitor the speed, torque, and temperature of the various components of the electromagneticdevice 100. The processing electronics 161 can utilize the collected data to adjust the input torque (^ெ) and / or the output torque (^^) to achieve the same results while using less current.

[0111] The processing electronics 161 can receive one or more kinematic information signals representative of kinematic information and / or temperature signals representative of a temperature. The processing electronics 161 can include one or more input terminals, such as first terminal 162a, second terminal 162b, third terminal 162c, and / or fourth terminal 162d, for receiving the one or more motion signals from the sensors 150 representative of a first kinematic information of the input element 110 and / or an output element 120 and / or the temperature signal(s) from the temperature sensor 170. For example, a first sensor 152 can measure the kinematic information of the input element 110 and / or an output element 120 and provide the first motion signal to a first terminal 162a. In some examples, a second sensor 154 can measure the kinematic information of the magnetically responsive material 140 and / or modulator segments 148 and provide the second motion signal to a fourth terminal 162d. Additionally, the temperature sensor 170 can measure a temperature at the target location of the electromagnetic device 100 and provide the temperature signal representative of the temperature at the target location to a second terminal 162b. The processing electronics 161 can also include output terminals for providing data, such as a determined input and / or output torque, etc. For example, a third terminal 162c can produces a signal representative of the input torque (^ெ) and / or the output torque (^^). In some implementations, the processing electronics 161 can include a fourth terminal to receive a second motional signal representative of a second kinematic information. The second sensor 154 can measure the kinematic information of an input element 110 and / or an output element 120 and provide the second motion signal to the fourth terminal. In some implementations, to calculate the characteristic torque (^^) in real time, the processing electronics 161 can include a calibrating terminal in communication with an external torque sensor measuring an input and / or output torque. The torque information can be passed to the processing electronics 16 in addition to the signals from the sensors 150 and temperature sensor 170. In some implementations, the microelectronic component 160 comprises an input bus 166 which includes the one or more input terminals, such as first terminal 162a, second terminal 162b, third terminal 162c, and / or fourth terminal 162d, for receiving the one or more motion signals from the sensors 150 representative of a first kinematic information of the input element 110 and / or an outputelement 120 and / or the temperature signal(s) from the temperature sensor 170. The microelectronic component 160 can also include an output bus 168 which includes output terminals for providing data, such as the third terminal 162c, which can produce the signal representative of the input torque (^ெ) and / or the output torque (^^). The processing electronics 161 can be in electrical communication with the input bus 166 and / or the output bus 168 for receiving and outputting the various signals.

[0112] As described below, the processing electronics 161 can also calculate the input torque (^ெ) and / or the output torque (^^) based at least in part on a moment of inertia, a rotational damping function, a pole pair count, and the characteristic torque of the input element 110 and / or the output element 120 to determine the input torque (^ெ) and / or output torque (^^). These processes can be applied to any and all of the devices contained herein (e.g., the devices described in regard to FIGS.1-3, 5-7, and 11). The processing electronics 161 can also determine an angular velocity of the input element 110 and / or the output element 120 from the kinematic information measured by the sensors 150. In some implementations, the moment of inertia, the rotational damping function, and the pole pair count of the input element 110 and / or the output element 120 are determined during operation of the electromagnetic device 100. In some implementations, the moment of inertia, the rotational damping function, and the pole pair count of the input element 110 and / or the output element 120 are predetermined prior to operation of the electromagnetic device 100. The fundamental motion equations of any electromagnetic device 100 (e.g., magnetic gear) can be generalized to Diagram 1 below and described by Equations (1) and (2) below. The variables ^^,^^,^^,^^andare the moment of inertia, angular velocity, rotational damping function, pole pair count, and angularposition of the input element 110, the high speed side of the magnetic gear. The variablescan represent the same variables for the output element 120, the low speedside of the magnetic gear, as for the input element 110 above. The variable ^ெis the torque provided by an assumed prime mover connected to the input element 110 (a high speed rotor (HSR)), and ^^is the torque of an assumed load connected the output element 120 (a low speed rotor (LSR)) (of course, this method is reversed if the low speed rotor is being driven and the load is connected to the high speed side). The variable ^^is defined as the gear’s characteristic torque, which is defined as the slip torque (a temperature-dependent maximum torque) on either element (e.g., input element 110 and / or output element 120 which can comprise rotors)divided by the number of pole pairs on that element (e.g., rotor). The variable ^^in a cycloidal-type magnetic gear, as shown in FIG.11, is unity (“1”). Since ^^and ^^are known and constant, and ^^is known and modellable with temperature, then ^^andcan be measured, by the sensors 150, to measure torque at locked rotor. During continuous operation, torque can still be measured, asand ^^are derived from the time derivativeand viscous friction and inertia are both parameters / constants which are measurable a priori. If used in conjunction with a programmable variable frequency drive to send known input speeds and torques, the processing electronics 161 can perform a calibration (knowing the characteristic torque (τC), pole counts (e.g., first plurality of pole pairs 114 and second plurality of pole pairs 134), and angles) to estimate the viscous damping (^^and ^^,) and / or the moment of inertia ^^, ^^. The tests can be conducted at several speeds and several accelerations, and a polynomial fit solver can estimate the parameters. The equation can take the form of ax^2 + bx + c equation. Alternatively, in the time domain, a numerical method can be implemented to solve the differential equation.

[0113] Initial values for system constants used in Equations (1) and (2) can be accurate to a first approximation; however, they can vary over time due to operational conditions, environmental factors, and / or system-specific characteristics. For example, the moment of inertia of rotating components may change due to material expansion or shifting mass distribution under thermal stress. Similarly, the rotational damping function can fluctuate with lubricant degradation, wear of mechanical components, or changing environmental viscosity (e.g., due to condensation, particulate ingress, and / or temperature fluctuations). In some implementations, machine learning logic can be incorporated into the processing electronics 161 to refine and adapt these parameters in real time at least based on observed datafrom the sensors (e.g., the sensors 150, such as the hall effect sensors, and / or the third sensor 170). For instance, a learning model can be trained to correlate measured sensor outputs (e.g., angular velocity, angular velocity, angular position, angular displacement, angular acceleration, and / or temperature) with known torques and damping values. Thereafter, the model can continuously update or re-weight parameters during operation as deviations from expected behavior are detected, effectively learning and compensating for system drift, wear, or environmental changes. This adaptive approach can improve system performance and enable automated calibration and / or product refinement. Furthermore, the machine learning logic can identify additional parameters or behavioral trends not originally modeled, thereby enhancing accuracy and robustness of torque estimation. To support these computational requirements, the processing electronics 161 can include parallel processing hardware such as a Graphics Processing Unit (GPU), which can facilitate efficient execution of machine learning algorithms and other compute-intensive tasks.

[0114] The disclosed embodiments are attractive to integrate with actuators in particular, for automation, robotics, gimbals, tool driving mechanisms, exoskeleton, humanoid-like robotic end effectors. Various implementations disclosed herein can also be applied to any gearmotor, and used in a range of applications from food processing to propulsion. The magnetic gear need not be connected to an electric motor as a prime mover – it could be hydraulic or internal combustion engine as a prime mover as well, or used for generation application where the low-speed rotor may be driven by wind or water and then the gear is used as a speed increaser and the load is a high speed generator.

[0115] FIG. 5 illustrates a perspective view of another exemplary electromagnetic device 200 (e.g., a compact axial flux gear) comprising axial magnetic gears. Unless otherwise noted, components of FIGS.5-7 can be the same as or generally similar. As shown in FIG.5, the electromagnetic device 200 can comprise an input element 210 (e.g., a high-speed inner rotor) in which an input torque (^ெ) is to be applied and an output element 220 (e.g., a low- speed rotor) to provide an output torque (^^). The output element 220 can be magnetically coupled with the input element 210. The input torque (^ெ) can be transferred (e.g., converted into) to the output torque (^^) via the input element 210 and output element 220. In some implementations, the input element 210 and the output element 220 comprise respective input and output gears, wherein the input and output gears have a gear ratio of greater than 1:1. Inother implementations, as shown in FIG. 7, the input element 210 and the output element 220 cooperate to define a magnetic coupling having a gear ratio of 1:1. In some implementations, the electromagnetic device 200 can include a stationary element 230 (e.g., a stator). The stationary element 230 can include includes coils arranged in a manner to produce flux concentrated axially—parallel to the rotation axis 201—to magnetically couple with the small ring of permanent magnets shown on the inner radius. The stator yoke can be made of a sintered iron powder, and / or a tape-wound electrical laminated steel. The stationary element 230 can include features to increase cooling capabilities. The input element 210, the output element 220, and the stationary element 230 can be centered about a rotational axis 201 and can be spaced apart from one another along the rotational axis 201. Similar to the input element 110, the input element 210 can comprise a first magnetic material 212 including a first plurality of pole pairs 214 disposed about a rotational axis 201. The first plurality of pole pairs 214 can include a first polarity region 216 and a second polarity region 218. The first magnetic material 212 can be disposed on a first side of the input element 210. The first plurality of pole pairs 214 can comprise an alternating pattern of the first polarity region 216 and second polarity region 218.

[0116] The output element 220 can comprise a second magnetic material 232 including a second plurality of pole pairs 234 disposed about the rotational axis 201. The second magnetic material 232 can be different than the first magnetic material 212. The second plurality of pole pairs 234 can include a third polarity region 236 and a fourth polarity region 238. The second magnetic material 232 can be disposed on a first side of the output element 220, such that it faces the first magnetic material 212 on the first side of input element 210. The second plurality of pole pairs 234 can comprise an alternating pattern of the third polarity region 236 and the fourth polarity region 238. The first plurality of pole pairs 214 and the second plurality of pole pairs 234 can be magnetically coupled together such that rotation of the input element 210 about the rotational axis 201 imparts rotation of the output element 220 about the rotational axis 201. Additionally, in some implementations, the output element 220 can be stationary and the magnetically responsive material 240 can rotate, acting as an output element to provide a torque. In this arrangement, the gear ratio is the number of modulator pieces (modulator pole pairs) of the magnetically responsive material 240 divided by thenumber of pole pairs (e.g., number of first plurality of pole pairs 214) of the input element 210 (e.g., inner rotor), which can be positive.

[0117] The electromagnetic device 200 can also include a plurality of magnetically responsive material 240 (e.g., soft magnetic pole pieces; also referred to as “a modulator element”) disposed between the input element 210 and the output element 220. The magnetically responsive material 240 can comprise a ferromagnetic material such as magnetic steel and can be comprised of a stack of magnetic steel laminations. In some implementations, the magnetically responsive material 240 can modulate a magnetic field of at least one of the input element 210 and the output element 220. The magnetically responsive material 240 can comprise a plurality of ferromagnetic pieces 242 (e.g., the soft magnetic pole pieces). In some implementations, the plurality of ferromagnetic pieces 242 can be a single piece with a plurality of ferromagnetic sections. As such, it should be understood that the plurality of ferromagnetic pieces 242 can also refer to a plurality of ferromagnetic sections. The plurality of ferromagnetic pieces 242 can be spaced out within the magnetically responsive material 240. The plurality of ferromagnetic pieces 242 may be spaced out evenly, but they need not be. In between each individual ferromagnet of the plurality of ferromagnetic pieces 242, there can be a gap 246. The gap 246 can be an air gap or it can be filled by another component and / or material.

[0118] The plurality of ferromagnetic pieces 242 can be modulate the magnetic flux in order to create a magnetic coupling effect between input element 210 and the output element 220. For example, the number and spacing of the plurality of ferromagnetic pieces 242 can be selected so as to modulate the magnetic flux in order to achieve a desired gear ratio for the device. For example, the number of ferromagnetic pieces 242 in relation to the number of pole pairs on each of the magnet elements can be selected so as to achieve any suitable gear ratio, e.g., 2:1, 3:1, 4:1, 5:1, etc. For example, the number of ferromagnetic pieces can be equal to the number of pole pairs 214 plus the number of second plurality of pole pairs 234. In various implementations, the gear ratio is a ratio of the number of ferromagnetic pieces to the number of pole pairs 214. In some implementations, the gear ratio can be the negative ratio of the number of pole pairs 234 to the number of pole pairs 214 (e.g., if the modulators or soft magnetic pole pieces are stationary).

[0119] As mentioned above, FIG. 6 illustrates a schematic perspective view of another electromagnetic device 255 (e.g., an axial magnetic coupling system). The electromagnetic device 255 can be similar to the electromagnetic device 200 except that the electromagnetic device 255 does not include the stationary element 230. FIG. 7 illustrates a schematic perspective view of an electromagnetic coupling device 275, which can be similar to the electromagnetic device 255 except that the electromagnetic coupling device 275 does not include magnetically responsive material comprised of soft magnetic pole pieces (see magnetically responsive material 240 in FIG.6) between the input element 210 and the output element 220 and includes plurality of ferromagnetic teeth 211. The electromagnetic coupling device 275 can include input element 210 and output element 220. A first plurality of pole pairs 214 can be disposed on an axial surface of the input element 210. A plurality of ferromagnetic teeth 211 can be formed on the output element 220. During operation, the plurality of magnetic pole pairs 214 can influence the plurality of ferromagnetic teeth 211 due to magnetic reluctance. The input element 210 can be aligned with the output element 220 in an axial fashion along the rotational axis 201 such that the plurality of magnetic pole pairs 214 of the input element 210 interact with the plurality of ferromagnetic teeth 211 due to magnetic flux in an axial direction relative to the input element 210 and the output element 220. As mentioned above, the input element 210 and the output element 220 of the electromagnetic coupling device 275 can cooperate to define a magnetic coupling having a gear ratio of 1:1.

[0120] FIG.8 illustrates a schematic section view taken along the line B-B in FIG. 6. As shown in FIG. 8, the electromagnetic device 200 can include one or more sensors 250 to measure an kinematic information (e.g., an angular motion such as angular velocity, angular position, angular displacement, and / or angular acceleration) of the input element 210 and / or the output element 220, and / or whichever element(s) of the electromagnetic device 200 is in motion. The sensors 250 can be similar and / or identical to the sensors 150. The electromagnetic device 200 can include a first sensor 252 and / or a second sensor 254 to measure kinematic information. The sensors 250 can generate a signal representative of the kinematic information to a microelectronic component 260 comprising processing electronics 261. In some implementations, the electromagnetic device 200 can include a second sensor 254 to measure an kinematic information of the input element 210 and / or the output element 220, such that both the input element 210 and the output element 220 are measured by thesensors 250. The sensors 250 can generate a signal(s) representative of the angular displacement(s) to microelectronic component 260.

[0121] The electromagnetic device 200 can further include a temperature sensor 270, which can be similar and / or identical to the temperature sensor 170. The temperature sensor 270 can measure a temperature at a target location of the electromagnetic device 200. The temperature sensor 270 can further generate a temperature signal representative of the temperature at the target location to the processing electronics 261. In some implementations, the temperature sensor 270 can comprise a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor. In some implementations, the target temperature location comprises the magnetically responsive material 240. In other implementations, the target location can comprise the input element 210 and / or the output element 220.

[0122] The processing electronics 261 of the microelectronic component 260 can comprise similar and / or identical electronic components to that of processing electronics 161. For example, the processing electronics 261can comprise circuitry to interpret and convert raw sensor data and memory that can store raw sensor data, calibration coefficients, processing algorithms, and / or measurement results. The processing electronics 261 can determine at least one of the input torque (^ெ) of the input element 210 and / or the output torque (^^) of the output element 220 based at least in part on the measured angular displacement(s) received from the sensors 250 and the measured temperature received from the temperature sensor 270. The processing electronics 261 can receive the first and / or second signal(s) representative of the kinematic information of the input element 210 and / or output element 220 and the temperature signal representative of the temperature at the target location of the electromagnetic device 200. The processing electronics 261 can also produce a signal representative of the input torque (^ெ) and / or the output torque (^^). Additionally, the memory of the processing electronics 261 can store a database (e.g., look-up table) comprising a plurality of values of a characteristic torque (τC) of the electromagnetic device 200 at a corresponding plurality of temperatures, where the input torque (^ெ) or the output torque (^^) can determine based at least in part on the characteristic torque. In some implementation, the characteristic torque (τC) values can be stored at a gate level rather than in a look-up table to improve calculation speed. Various material properties can be pre-selected such that the processing electronics 261 canquickly determine the characteristic torque (τC) based at least in part on the measured temperature, e.g., by sorting a look up table (LUT) to identify the characteristic torque at a particular measured temperature. Additionally or alternatively, in some implementations, the processing electronics 261 can determine the characteristic torque during operation of the electromagnetic devices 200, 255, 275. As described above in regard to the description of FIG. 4 and processing electronics 161, the processing electronics 261 can also calculate the input torque (^ெ) or the output torque (^^) at least based on a moment of inertia, a rotational damping function, a pole pair count, and the characteristic torque of the input element 210 and the output element 220 to determine the input torque (^ெ) or output torque (^^). The processing electronics 261 can perform similar processes and methods to that of processing electronics 161 to determine the characteristic torque (τC) of the electromagnetic device 200 utilizing Diagram 1 and Equations 1 and 2.

[0123] The processing electronics 261, similar to the processing electronics 161, can also be utilized in a feedback loop, similar to FIG.10, to monitor the kinematic information measured by the sensors 250, the input torque (^ெ) and / or the output torque (^^), and the temperature measured by the temperature sensor 270 to dynamically operate the electromagnetic device 200. The processing electronics 261 of the microelectronic component 260 can process the various parameters of the electromagnetic device 200 and provide instructions and / or data to a driver controller (see driver controller 164 of FIG. 10) providing instruction to a prime mover 180 (e.g., an engine, generator, etc.) connected to the input element 210. The prime mover (see prime mover 180 of FIG.10) can provide date to the driver controller and / or directly to the processing electronics 261 of the microelectronic component 260 related to its performance. The processing electronics 261, via the driver controller, can monitor the current (e.g., energy provided) for rotating the input element 210 and / or output element 220 and, while doing so, monitor the speed, torque, and temperature of the various components of the electromagnetic devices 200, 255, 275. The processing electronics 261 can utilize the collected data to adjust the input torque (^ெ) and / or the output torque (^^) to achieve the same results while using less current.

[0124] The processing electronics 261 can receive motion signals representative of angular displacement and / or temperature signals representative of a temperature. The processing electronics 261 can include one or more input terminals, such as first terminal 262a,second terminal 262b, third terminal 262c, and / or fourth terminal 262d, for receiving the one or more motion signals from the sensors 250 representative of a first and / or second kinematic information of the input element 210 and / or an output element 220 and / or the temperature signal(s) from the temperature sensor 270. For example, a first sensor 252 can measure the kinematic information of the input element 210 and / or the output element 220 and provide the first motion signal to a first terminal 262a. Additionally, the temperature sensor 270 can measure a temperature at the target location of the electromagnetic device 200 and provide the temperature signal representative of the temperature at the target location to a second terminal 262b. The microelectronic component 260 can also include output terminals for providing data, such as a determined input and / or output torque, etc. For example, a third terminal 262c can produce a signal representative of an input torque (^ெ) and / or an output torque (^^). In some implementations, the microelectronic component 260 can include a fourth terminal 262d to receive the second motional signal representative of a second kinematic information. The second sensor 254 can measure the kinematic information of the input element 210 and / or the output element 220 and provide the second motion signal to the fourth terminal 262d. In some implementations, the microelectronic component 260 comprises an input bus 266 which includes the one or more input terminals, such as first terminal 262a, second terminal 262b, 2hird terminal 162c, and / or 2ourth terminal 162d, for receiving the one or more motion signals from the sensors 250 representative of a first kinematic information of the input element 210 and / or an output element 220 and / or the temperature signal(s) from the temperature sensor 270. The microelectronic component 260 can also include an output bus 128 which includes output terminals for providing data, such as the third terminal 262c, which can produce the signal representative of the input torque (^ெ) and / or the output torque (^^). The processing electronics 261 can be in electrical communication with the input bus 266 and / or the output bus 268 for receiving and outputting the various signals.

[0125] FIG. 9 illustrates a graph 900 of temperature (℃) versus characteristic torque (^^) (Nm). The x-axis 910 represents temperature, usually measured in degrees Celsius (°C) or Fahrenheit (°F). The y-axis 920 represents characteristic torque, measured in units such as Newton-meters (Nm) or pound-feet (lb-ft). As shown in FIG. 9, the torque decreases as the temperature increases, which is a common behavior in some materials and devices. FIG. 9 illustrates how torque can diminish with rising temperatures, potentially indicating reducedmechanical performance at higher temperatures. The magnitude of the torque can depend on the size of the element (e.g., rotor, gear, etc.) such that a larger element would have higher Nm, and a smaller element would have lower Nm. Additionally, the torque can be described on as “per unit” torque (e.g., the torque at room temperature is 1 per unit (p.u.)). The torque is illustrated as increasing and / or decreasing at least based off of the definition of torque divided by room temperature torque.

[0126] FIG. 12A illustrates a schematic perspective view of a conventional electromagnetic tool (e.g., an electronic torque wrench), and FIG. 12B illustrates a schematic internal perspective view of the conventional electromagnetic tool shown in FIG. 12A. An electronic torque wrench 1200 operates by detecting and processing torque data through an internal strain gauge or piezoelectric sensor (not shown). When a force is applied to a handle 1204, mechanical deformation occurs along a calibrated shaft 1206. This deformation is converted into an electrical signal by a sensor. The signal is transmitted to a microcontroller or digital processor housed within the electronic torque wrench 1200, where it is interpreted and compared against preset torque settings. The processed signal is displayed through a digital interface 1208, which can include an LCD or LED screen. The digital interface 1208 presents real-time torque readings and can also include user-configurable settings for target torque values.

[0127] When the applied torque reaches the preset torque value, the electronic torque wrench 1200 may activate a feedback mechanism 1210, such as an audible alert, visual signal, and / or vibratory response. Some electronic torque wrenches can incorporate data logging or wireless transmission modules for monitoring and documentation purposes. These features enable controlled torque application with higher resolution and repeatability than purely mechanical systems.

[0128] As shown in FIGS. 12A and 12B, the electronic torque wrench 1200 can include a release button 1212 located at a first end (e.g., the head of the wrench), configured to engage or disengage a socket. The electronic torque wrench 1200 can comprise a tube, such as shaft 1206. A mechanical signal mechanism, such as feedback mechanism 1210, is integrated into the shaft 1206 to produce an audible, visual, and / or vibratory response when a target torque setting is reached. The torque wrench can include a direction control button 1214 that switches the drive between clockwise and counterclockwise rotation. A coiled spring1216, which can be made of alloy steel, is positioned within the shaft 1206 at a second end (e.g., near the handle 1204) to provide mechanical resistance. A lubricant 1218 (e.g., lubricating oil) can be applied to internal components to minimize surface friction and support mechanical movement within the shaft 1206. The electronic torque wrench 1200 can also include a locking ring mechanism 1220 to secure the torque adjustment setting along a calibrated scale.

[0129] FIG. 13 illustrates a schematic perspective view of an example electromagnetic device 1300 (e.g., a magnetically geared controlled torquer tool), and FIG.14 illustrates a schematic section view of the example electromagnetic device 1300. Unless otherwise noted, the components of FIG. 13 can be the same as or generally similar to like- numbered or named components of FIGS. 1-11. The electromagnetic device 1300 can advantageously be used in conjunction with a torque controlled method to force a gear to slip at any torque value by commanding a gear to slip via a controller (e.g., processing electronics 1310). This allows a tool, such as a torquer (e.g., the electromagnetic device 1300), to be programmed to slip at a specific torque rating. In application, an operator can set a toque (e.g., 10 ft-lbs.) and then have the torquer tool slip at 10 ft-lbs., allowing the operator to quickly go bolt to bolt without error. In some examples, the torque could be programmed in real time between bolts.

[0130] As shown in FIGS.13 and 14, the electromagnetic device 1300 can include an input element 1302 to which an input torque is to be applied and an output element 1304 configured to provide an output torque. The electromagnetic device 1300 can include an electromagnetic machine, such as electromagnetic device 195 having magnetic materials 112, 132, configured to receive the input torque from the input element 1302 and provide an output torque to the output element 1304.

[0131] The output element 1304 can be magnetically coupled with the input element 1302 by the electromagnetic device 195. In some implementations, the input element 1302 and output element 1304 can be contained withing a shaft 1315 of the electromagnetic device 1300. In some implementations, the electromagnetic device 1300 further includes a handle 1320 (e.g., a grip) and a drive head 1330. The drive head 1330 can transfer the torque from the electromagnetic device 1300 to an external object such as a bolt, nut, etc. In some implementations, the output torque applied by the electromagnetic device 1300 is controlledbased at least on a predefined or user-selected torque profile. An input motion system 1322 (e.g., a motor, human, etc.) can provide the input torque to the input element 1302.

[0132] The electromagnetic device 1300 can further a sensor assembly 1305 which include a first sensor 1306 configured to measure kinematic information (e.g., an angular motion such as angular velocity, angular position, angular displacement, and / or angular acceleration) of the input element 1302 or the output element 1304. In some implementations, the electromagnetic device 1300 can include a plurality of sensor assemblies 1305 at various locations to measure the kinematic information (e.g., at or near the input element 1302 and / or at or near the output element 1304) The sensor assembly 1305 can also include a second sensor 1307 configured to measure kinematic information of the input element 1302 or the output element 1304. The first sensor 1306 and / or second sensor 1307 can be at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, and a magnetic encoder. In some implementations, the first sensor 1306 and / or second sensor 1307 comprise a hall effect sensor 1318. The hall effect sensor 1318 can be positioned on or near the magnetic materials 112, 132 of the electromagnetic device 195. The first sensor 1306 can generate a first signal representative of the kinematic information. The second sensor 1307 can generate a second signal representative of the kinematic information. The electromagnetic device 1300 can also include a third sensor 1308 configured to measure a temperature at a target location of the electromagnetic device 1300. In some implementations, the third sensors comprises a temperature sensor. The third sensor 1308 can generate a temperature signal representative of the temperature at the target location. The electromagnetic device 1300 can include a transmission unit 1309 to output the first signal, the second signal, the temperature signal, and / or any other available signal over a wireless or wired channel, for example, to processing electronics 1310. The transmission unit 1309 can also transmit the signals for data logging at a local storage device or a remote system.

[0133] The electromagnetic device 1300 can also include processing electronics 1310 in electrical communication with the first sensor 1306, the second sensor 1307, and the third sensor 1308. The processing electronics can be configured to receive an output torque setting, determine an output torque value based at least in part on the measured kinematic information and the measured temperature, compare the determined output torque value to the output torque setting, and generate a signal when the determined output torque value meets theoutput torque setting. In some implementations, the processing electronics 1310 generate the signal when the determined output torque value is between approximately 50% and 100%, between approximately 60% and 100%, between approximately 75% and 100%, or between approximately 80% and 100% of the output torque setting. For example, the processing electronics 1310 can generate a first signal when the determined output torque value 80% of the output torque setting and a second signal when the determined output torque value 100% of the output torque setting. In some implementations, the processing electronics 1310 are further configured to determine output torque based at least in part on the measured kinematic information from the first sensor 1306 and the second sensor 1307 and the measured temperature from the third sensor 1308. The processing electronics 1310 can be configured to disable operation of the electromagnetic device 1300 once the determined output torque value exceeds the output torque setting. For example, the processing electronics 1310 causes a slip torque.

[0134] In some implementations, the processing electronics 1310 can generate a control signal to a drive system based at least in part on the determined output torque values. The control signal can modify a motion command to the drive system when the output torque setting exceeds or approaches the determined output torque value. As explained herein, torque sensing can be used for feedback control of mechanisms such as electromagnetic devices (e.g., the electromagnetic device 1300 and the electromagnetic device 195 contained therein). The processing electronics 1310 can also be utilized in a feedback loop, as shown in FIG. 10, to monitor the kinematic information measured by the first sensor 1306 and the second sensor 1307, the input torque (^ெ) and / or the output torque (^^), and the temperature measured by the third sensor 1308 to improve an efficiency of the electromagnetic device 1300. The processing electronics 1310 can process the various parameters of the electromagnetic device 1300 and provide instructions and / or data to a driver controller providing instruction to a prime mover (e.g., an engine, generator, etc.) connected to the input element 1302. The prime mover can provide data to the driver controller and / or directly to the processing electronics 1310 of the microelectronic component related to its performance. The processing electronics 1310, via the driver controller, can monitor the current (e.g., energy provided) for rotating the input element 1302 and / or output element 1304 and, while doing so, monitor the speed, torque, and temperature of the various components of the electromagnetic device 1300. The processingelectronics 1310 can utilize the collected data to adjust the input torque (^ெ) and / or the output torque (^^) to achieve the same results while using less current.

[0135] In some implementations, the processing electronics 1310 can apply a compensation adjustment based at least on one or more of environmental parameters including temperature, humidity, vibration, wind loads, etc. The electromagnetic device 1300 can also include a self-calibration module (e.g., part of the processing electronics 1310) to detect wear and tear in one or more components (e.g., the input element 1302, the output element 1304, the electromagnetic device 195, etc.) of the electromagnetic device and adjust operational parameters to compensate for performance degradation. Additionally, in some implementations, the electromagnetic device 1300 can include a user authentication system configured to enable operation of the electromagnetic device 1300 upon successful authentication of a user.

[0136] As described below, the processing electronics 1310 can calculate the output torque (^^௨௧) based at least in part on a design torque (^^(^)), which is a function of temperature (T), gear ration (G), input torque (^^^), temperature (T), angle of output (^), angle of input (^), and spring rate (^(^,^,^)), which is a function angle of output (^), angle of input (^), and temperature (T), to determine the output torque (^^௨௧). Using equations 3 and 4 below, the processing electronics 1310 can consider the angle of input (^) to determine thevalue of the input torque (^^^).

[0137] The output torque setting can be preselected, and the electromagnetic device 1300 would indicate once the output torque (^^௨௧) meets the preselected torque value.

[0138] The electromagnetic device 1300 can include an input interface 1312 (e.g., interface panel) configured to receive, display, and adjust the output torque setting. The 1312 can be electrically connected to the processing electronics 1310, which can monitor and / or control feedback operations. In some implementations, the input interface 1312 can include a digital display 1314 which can present numerical torque values, system status indicators, and user feedback prompts. The input interface 1312 can further include input buttons 1316 for receiving the output torque setting. For example, the input buttons 1316 can be tactile membrane switches, a touchscreen, capacitive touch buttons, rotary dials, or other user-actuated control elements. Additionally, in some implementations, the electromagnetic device 1300 includes a wireless or wired transceiver for receiving the output torque setting. The input buttons 1316 can enable a user to enter a desired output torque setting as well as select measurement units (e.g., N·m, ft·lb, in·lb) or access diagnostic menus. The input buttons 1316 can be arranged in the input interface 1312 integrated into a handle or housing of the electromagnetic device 1300. Upon user input, the selected output torque setting can be stored in memory and used by the processing electronics 1310 to determine when the applied torque reaches or exceeds the predefined value.

[0139] The electromagnetic device 1300 can also include an audible indicator configured to emit a sound signal in response to the generated signal. The audible indicator can emit a pattern of beeps at least based on the determined output torque value approaching the output torque setting (e.g., an output torque setting). The electromagnetic device 1300 can also include a visual indicator, such as digital display 1314, configured to emit a light signal in response to the generated signal.

[0140] In the foregoing specification, the systems and processes have been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the embodiments disclosed herein. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense.

[0141] Indeed, although the systems and processes have been disclosed in the context of certain implementations and examples, it will be understood by those skilled in the art that the various implementations of the systems and processes extend beyond the specifically disclosed implementations to other alternative implementations and / or uses of the systems and processes and obvious modifications and equivalents thereof. In addition, while several variations of the implementations of the systems and processes have been shown and described in detail, other modifications, which are within the scope of this disclosure, will be readily apparent to those of skill in the art based upon this disclosure. It is also contemplated that various combinations or sub-combinations of the specific features and implementations of the implementations may be made and still fall within the scope of the disclosure. It should be understood that various features and implementations of the disclosed implementations can be combined with, or substituted for, one another in order to form varying modes of theembodiments of the disclosed systems and processes. Any methods disclosed herein need not be performed in the order recited. Thus, it is intended that the scope of the systems and processes herein disclosed should not be limited by the particular embodiments described above.

[0142] It will be appreciated that the systems and methods of the disclosure each have several innovative implementations, no single one of which is solely responsible or required for the desirable attributes disclosed herein. The various features and processes described above may be used independently of one another or may be combined in various ways. All possible combinations and sub-combinations are intended to fall within the scope of this disclosure.

[0143] In various implementations, systems and / or computer systems are disclosed that comprise one or more computer-readable storage mediums or devices comprising, configured to store, and / or storing program instructions, and one or more processors configured to execute the program instructions to cause the systems and / or computer systems to perform operations comprising one or more aspects of the above- and / or below-described implementations (including one or more aspects of the appended claims).

[0144] In various implementations, computer-implemented methods are disclosed in which, by one or more processors executing program instructions, one or more aspects of the above- and / or below-described implementations (including one or more aspects of the appended claims) are implemented and / or performed.

[0145] In various implementations, computer program products comprising one or more computer-readable storage mediums or devices, and / or one or more computer-readable storage mediums or devices, are disclosed, wherein the computer-readable storage mediums comprise, are configured to store, and / or store program instructions, the program instructions executable by one or more processors to cause the one or more processors to perform operations comprising one or more aspects of the above- and / or below-described implementations (including one or more aspects of the appended claims).

[0146] Certain features that are described in this specification in the context of separate implementations also may be implemented in combination in a single implementations. Conversely, various features that are described in the context of a single embodiment also may be implemented in multiple implementations separately or in anysuitable sub-combination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination may in some cases be excised from the combination, and the claimed combination may be directed to a sub-combination or variation of a sub-combination. No single feature or group of features is necessary or indispensable to each and every embodiment.

[0147] Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,” “comprising,” “include,” “including” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of “including, but not limited to.” The word “coupled”, as generally used herein, refers to two or more elements that may be either directly connected, or connected by way of one or more intermediate elements. Likewise, the word “connected”, as generally used herein, refers to two or more elements that may be either directly connected, or connected by way of one or more intermediate elements. Additionally, the words “herein,” “above,” “below,” and words of similar import, when used in this application, shall refer to this application as a whole and not to any particular portions of this application. Moreover, as used herein, when a first element is described as being “on” or “over” a second element, the first element may be directly on or over the second element, such that the first and second elements directly contact, or the first element may be indirectly on or over the second element such that one or more elements intervene between the first and second elements. Where the context permits, words in the above Detailed Description using the singular or plural number may also include the plural or singular number, respectively. The word “or” in reference to a list of two or more items, that word covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list.

[0148] Moreover, conditional language used herein, such as, among others, “can,” “could,” “might,” “may,” “e.g.,” “for example,” “such as” and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain implementations include, while other implementations do not include, certain features, elements and / or states. Thus, such conditional language is not generally intended to imply that features, elements and / or states are in any way required for one or more embodiments.

[0149] While certain implementations have been described, these implementations have been presented by way of example only, and are not intended to limit the scope of the disclosure. Indeed, the novel apparatus, methods, and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the disclosure. For example, while blocks are presented in a given arrangement, alternative implementations may perform similar functionalities with different components and / or circuit topologies, and some blocks may be deleted, moved, added, subdivided, combined, and / or modified. Each of these blocks may be implemented in a variety of different ways. Any suitable combination of the elements and acts of the various embodiments described above can be combined to provide further implementations. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure.

[0150] Several illustrative examples of contactless torque sensing systems and related systems and methods have been disclosed. Although this disclosure has been described in terms of certain illustrative examples and uses, other examples and other uses, including examples and uses which do not provide all of the features and advantages set forth herein, are also within the scope of this disclosure. Components, elements, features, acts, or steps may be arranged or performed differently than described and components, elements, features, acts, or steps may be combined, merged, added, or left out in various examples. All possible combinations and subcombinations of elements and components described herein are intended to be included in this disclosure. No single feature or group of features is necessary or indispensable.

[0151] Certain features that are described in this disclosure in the context of separate implementations may also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation also may be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination may in some cases be excised from the combination, and the combination may be claimed as a subcombination or variation of a subcombination.

[0152] Further, while illustrative examples have been described, any examples having equivalent elements, modifications, omissions, and / or combinations are also within the scope of this disclosure. Moreover, although certain aspects, advantages, and novel features are described herein, not necessarily all such advantages may be achieved in accordance with any particular example. For example, some examples within the scope of this disclosure achieve one advantage, or a group of advantages, as taught herein without necessarily achieving other advantages taught or suggested herein. Further, some examples may achieve different advantages than those taught or suggested herein.

[0153] Some examples have been described in connection with the accompanying drawings. The figures may or may not be drawn and / or shown to scale, but such scale should not be limiting, since dimensions and proportions other than what are shown are contemplated and are within the scope of the disclosed invention. Distances, angles, etc. are merely illustrative and do not necessarily bear an exact relationship to actual dimensions and layout of the devices illustrated. Components may be added, removed, and / or rearranged. Further, the disclosure herein of any particular feature, aspect, method, property, characteristic, quality, attribute, element, or the like in connection with various examples may be used in all other examples set forth herein. Additionally, any methods described herein may be practiced using any device suitable for performing the recited steps.

[0154] For purposes of summarizing the disclosure, certain aspects, advantages and features of the inventions have been described herein. Not all, or any such advantages are necessarily achieved in accordance with any particular example of the inventions disclosed herein. No aspects of this disclosure are essential or indispensable. In many examples, the devices, systems, and methods may be configured differently than illustrated in the figures. or description herein. For example, various functionalities provided by the illustrated modules may be combined, rearranged, added, or deleted. In some implementations, additional or different processors or modules may perform some or all of the functionalities described with reference to the examples described and illustrated in the figures. Many implementation variations are possible. Any of the features, structures, steps, or processes disclosed in this specification may be included in any example.

[0155] As used herein, a phrase referring to “at least one of” a list of items refers to any combination of those items, including single members. As an example, “at least one of:A, B, or C” is intended to cover: A, B, C, A and B, A and C, B and C, and A, B, and C. Conjunctive language such as the phrase “at least one of X, Y and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be at least one of X, Y or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require at least one of X, at least one of Y, and at least one of Z to each be present. The headings provided herein, if any, are for convenience only and do not necessarily affect the scope or meaning of the devices and methods disclosed herein.

[0156] Accordingly, the claims are not intended to be limited to the implementations shown herein but are to be accorded a fair interpretation consistent with this disclosure, the principles and the novel features disclosed herein.

Claims

WHAT IS CLAIMED IS:

1. An electromagnetic device, the electromagnetic device comprising: an input element to which an input torque is to be applied; an output element configured to provide an output torque, the output element magnetically coupled with the input element; a sensor assembly configured to generate one or more signals from which angular kinematic information and temperature are derived; and processing electronics configured to receive the one or more signals and to determine at least one of the input torque or the output torque.

2. The electromagnetic device of Claim 1, wherein the sensor assembly comprises: a first sensor configured to transduce the kinematic information of the input element or the output element, wherein the first sensor generates a first signal of the one or more signals representative of the kinematic information; and a second sensor configured to transduce a temperature at a target location of the electromagnetic device, wherein the second sensor generates a second signal of the one or more signals representative of the temperature at the target location.

3. The electromagnetic device of Claim 2, wherein the first sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

4. The electromagnetic device of any one of Claims 2 to 3, wherein the second sensor comprises a temperature sensor.

5. The electromagnetic device of Claim 4, wherein the temperature sensor comprises at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

6. The electromagnetic device of any one of Claims 2 to 5, wherein the sensor assembly further comprises a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the at least one of the input torque or the output torque based at least in part on the determined kinematic information from the first sensor and the third sensor and the measured temperature.

7. The electromagnetic device of Claim 6, wherein the third sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

8. The electromagnetic device of any one of Claims 2 to 7, wherein the target location comprises the input element.

9. The electromagnetic device of any one of Claims 2 to 7, wherein the target location comprises the output element.

10. The electromagnetic device of any one of Claims 2 to 9, wherein the electromagnetic device further comprises a stationary element.

11. The electromagnetic device of Claim 10, wherein the target location comprises the stationary element.

12. The electromagnetic device of any one of Claims 2 to 11, wherein the processing electronics are further configured to receive the first signal representative of the kinematic information and the temperature signal representative of the temperature at the target location.

13. The electromagnetic device of any one of Claims 1 to 12, wherein the input element and the output element comprise respective input and output rotors.

14. The electromagnetic device of any one of Claims 1 to 13, wherein the input torque is transferred to the output torque.

15. The electromagnetic device of any one of Claims 1 to 14, wherein the input element and the output element comprise respective input and output rotors of a gear, wherein the input and output gears have a gear ratio of greater or less than 1:

1.

16. The electromagnetic device of any one of Claims 1 to 15, wherein the input element and the output element cooperate to define a magnetic coupling having a gear ratio of 1:

1.

17. The electromagnetic device of any one of Claims 1 to 16, wherein the electromagnetic device further comprises a modulator element having magnetically responsive material, the magnetically responsive material modulating a magnetic field of the input element.

18. The electromagnetic device of Claim 17, wherein the output element comprises the modulator element.

19. The electromagnetic device of any one of Claims 17 to 18, further comprising a stationary element, the magnetically responsive material modulating a magnetic field of at least one of the input element and the stationary element.

20. The electromagnetic device of any one of Claims 10 to 11, wherein the stationary element comprises at least one of a rotor or a stator.

21. The electromagnetic device of any one of Claims 10 to 20, wherein the stationary element comprises magnetically responsive material, the magnetically responsive material modulating a magnetic field of at least one of the input element and the output element.

22. The electromagnetic device of any one of Claims 1 to 21, wherein the processing electronics comprises a memory storing a database comprising a plurality of values of a characteristic torque of the electromagnetic device at a corresponding plurality of temperatures and a corresponding number of pole pairs of the input element or the output element, wherein the input torque or the output torque is determined based at least in part on the characteristic torque and the corresponding number of pole pairs.

23. The electromagnetic device of Claim 22, wherein the corresponding number of pole pairs further includes at least two of the input element, the output element, and a stationary element of the electromagnetic device.

24. The electromagnetic device of any one of Claims 1 to 23, wherein the processing electronics are further configured to produce a signal representative of the input torque or the output torque.

25. The electromagnetic device of any one of Claims 1 to 24, wherein the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information.

26. The electromagnetic device of any one of Claims 1 to 25, wherein the processing electronics are further configured to calculate the output torque or the input torque at least based on a moment of inertia, a rotational damping function, a pole pair count, and a characteristic torque of the input element and the output element to determine the input torque or output torque.

27. The electromagnetic device of Claim 26, wherein the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device.

28. The electromagnetic device of Claim 26, wherein the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device.

29. The electromagnetic device of any one of Claims 1 to 28, wherein the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device.

30. The electromagnetic device of Claim 29, wherein the processing electronics are further configured monitor a slip torque of the input element and the output element of the electromagnetic device at a plurality of temperature to determine and track the characteristic torque.

31. The electromagnetic device of any one of Claims 1 to 30, wherein the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element.

32. The electromagnetic device of any one of Claims 1 to 31, wherein the processing electronics are further configured to perform a feedback loop, wherein the processing electronics monitor the kinematic information, the input torque or the output torque, and the temperature to improve an efficiency of the electromagnetic device.

33. The electromagnetic device of Claim 32, wherein the processing electronics are further configured to communicate with a drive to adjust the input torque or the output torque.

34. A microelectronic component for determining an input torque or an output torque of an electromagnetic device, the microelectronic component comprising: an input bus configured to receive a first signal representative of kinematic information of an input element or an output element and a second signal representative of a temperature at a target location of the electromagnetic device; an output bus that produces a third signal representative of the input torque or the output torque; andprocessing electronics configured to process the first signal and the second signal and determine the input torque or the output torque based at least in part on the processed signals.

35. The microelectronic component of Claim 34, wherein the input bus comprises a first terminal configured to receive first signal and a second terminal configured to receive the second signal.

36. The microelectronic component of Claim 35, further comprising a first sensor configured to transduce the kinematic information of the input element or the output element and provide the first signal to the first terminal.

37. The microelectronic component of any one of Claims 35 to 36, further comprising a second sensor configured to transduce the temperature at the target location of the electromagnetic device, wherein the second sensor provides the second signal representative of the temperature at the target location to the second terminal.

38. The microelectronic component of Claim 37, wherein the second sensor comprises a temperature sensor.

39. The microelectronic component of Claim 38, wherein the temperature sensor comprises at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

40. The microelectronic component of any one of Claims 37 to 39, wherein the target location comprises the input element.

41. The microelectronic component of any one of Claims 37 to 39, wherein the target location comprises the output element.

42. The microelectronic component of any one of Claims 37 to 39, wherein the target location comprises a stationary element.

43. The microelectronic component of any one of Claims 37 to 42, wherein the input bus further comprises a fourth terminal configured to receive a fourth signal representative of kinematic information.

44. The microelectronic component of Claim 43, further comprising a third sensor configured to transduce the kinematic information of the input element or the output element and provide the kinematic information signal to the fourth terminal.

45. The electromagnetic component of any one of Claims 34 to 44, wherein the output bus comprises a third terminal that produces the third signal.

46. The microelectronic component of any one of Claims 34 to 45, wherein the processing electronics comprises memory storing a database comprising values corresponding to a characteristic torque, wherein the characteristic torque is determined based at least in part on the determined temperature.

47. The microelectronic component of Claim 46, wherein the database comprises a look-up table of predetermined characteristic torques.

48. The microelectronic component of any one of Claims 34 to 47, wherein the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device.

49. The microelectronic component of any one of Claims 34 to 48, wherein the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information.

50. The microelectronic component of any one of Claims 34 to 49, wherein the processing electronics are further configured to receive an angular acceleration, a moment of inertia, a rotational damping function, and a pole pair count of the input element and the output element to determine the input torque or the output torque.

51. The microelectronic component of Claim 50, wherein the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device.

52. The microelectronic component of Claim 51, wherein the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device.

53. The microelectronic component of any one of Claims 34 to 52, wherein the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and an angular acceleration and angular acceleration of the input element or the output element.

54. An electromagnetic device, the electromagnetic device comprising:an input element to which an input torque is to be applied; an output element configured to provide an output torque, the output element magnetically coupled with the input element; a first sensor configured to transduce kinematic information of the input element or the output element, wherein the first sensor generates a first signal representative of the kinematic information; a second sensor configured to transduce a temperature at a target location of the electromagnetic device, wherein the second sensor generates a second signal representative of the temperature at the target location; and processing electronics in electrical communication with the first sensor and the second sensor, the processing electronics configured to determine at least one of the input torque or the output torque based at least in part on the determined kinematic information and the measured temperature.

55. The electromagnetic device of Claim 54, wherein the input element and the output element comprise respective input and output rotors.

56. The electromagnetic device of any one of Claims 54 to 55, wherein the input torque is transferred to the output torque.

57. The electromagnetic device of any one of Claims 54 to 56, wherein the input element and the output element comprise respective input and output rotors of a gear, wherein the input and output gears have a gear ratio of greater or less than 1:

1.

58. The electromagnetic device of any one of Claims 54 to 56, wherein the input element and the output element cooperate to define a magnetic coupling having a gear ratio of 1:

1.

59. The electromagnetic device of any one of Claims 54 to 58, wherein the first sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

60. The electromagnetic device of any one of Claims 54 to 59, further comprising a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the at least one of the input torque or the output torque based at least in part on the determined kinematic information from the first sensor and the third sensor and the measured temperature.

61. The electromagnetic device of Claim 60, wherein the third sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

62. The electromagnetic device of any one of Claims 54 to 61, wherein the second sensor comprises a temperature sensor.

63. The electromagnetic device of Claim 62, wherein the temperature sensor comprises at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

64. The electromagnetic device of any one of Claims 54 to 63, wherein the target location comprises the input element.

65. The electromagnetic device of any one of Claims 54 to 63, wherein the target location comprises the output element.

66. The electromagnetic device of any one of Claims 54 to 65, wherein the electromagnetic device further comprises a modulator element having magnetically responsive material, the magnetically responsive material modulating a magnetic field of the input element.

67. The electromagnetic device of Claim 66, wherein the output element comprises the modulator element.

68. The electromagnetic device of any one of Claims 66 to 67, further comprising a stationary element, the magnetically responsive material modulating a magnetic field of at least one of the input element and the stationary element.

69. The electromagnetic device of any one of Claims 54 to 68, wherein the electromagnetic device further comprises a stationary element.

70. The electromagnetic device of Claim 69, wherein the target location comprises the stationary element.

71. The electromagnetic device of any one of Claims 69 to 70, wherein the stationary element comprises at least one of a rotor or a stator.

72. The electromagnetic device of any one of Claims 69 to 71, wherein the stationary element comprises magnetically responsive material, the magnetically responsive material modulating a magnetic field of at least one of the input element and the output element.

73. The electromagnetic device of any one of Claims 54 to 72, wherein the processing electronics comprises a memory storing a database comprising a plurality of values of a characteristic torque of the electromagnetic device at a corresponding plurality of temperatures and a corresponding number of pole pairs of the input element or the output element, wherein the input torque or the output torque is determined based at least in part on the characteristic torque and the corresponding number of pole pairs.

74. The electromagnetic device of Claim 73, wherein the corresponding number of pole pairs further includes at least two of the input element, the output element, and a stationary element of the electromagnetic device.

75. The electromagnetic device of any one of Claims 54 to 73, wherein the processing electronics are further configured to receive the first signal representative of the kinematic information and the temperature signal representative of the temperature at the target location.

76. The electromagnetic device of any one of Claims 54 to 75, wherein the processing electronics are further configured to produce a signal representative of the input torque or the output torque.

77. The electromagnetic device of any one of Claims 54 to 76, wherein the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information.

78. The electromagnetic device of any one of Claims 54 to 77, wherein the processing electronics are further configured to calculate the output torque or the input torque at least based on a moment of inertia, a rotational damping function, a pole pair count, and a characteristic torque of the input element and the output element to determine the input torque or the output torque.

79. The electromagnetic device of Claim 78, wherein the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device.

80. The electromagnetic device of Claim 78, wherein the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device.

81. The electromagnetic device of any one of Claims 54 to 80, wherein the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device.

82. The electromagnetic device of Claim 81, wherein the processing electronics are further configured monitor a slip torque of the input element and the output element of the electromagnetic device at a plurality of temperature to determine and track the characteristic torque.

83. The electromagnetic device of any one of Claims 54 to 82, wherein the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element.

84. The electromagnetic device of any one of Claims 54 to 83, wherein the processing electronics are further configured to perform a feedback loop, wherein the processing electronics monitor the kinematic information, the input torque or the output torque, and the temperature to improve an efficiency of the electromagnetic device.

85. The electromagnetic device of Claim 84, wherein the processing electronics are further configured to communicate with a drive to adjust the input torque or the output torque.

86. A microelectronic component for determining an input torque or an output torque of an electromagnetic device, the microelectronic component comprising: a first terminal configured to receive a first signal representative of kinematic information of an input element or an output element; a second terminal configured to receive a second signal, wherein the second signal is representative of a temperature at a target location of the electromagnetic device; a third terminal that produces a signal representative of the input torque or the output torque; and processing electronics configured to process the first signal and the second signal and determine the input torque or the output torque based at least in part on the processed signals.

87. The microelectronic component of Claim 86, further comprising a first sensor configured to transduce the kinematic information of the input element or the output element and provide the first signal to the first terminal.

88. The microelectronic component of any one of Claims 86 to 87, further comprising a fourth terminal configured to receive a fourth signal representative of kinematic information.

89. The microelectronic component of Claim 88, further comprising a third sensor configured to transduce the kinematic information of the input element or the output element and provide the kinematic information signal to the fourth terminal.

90. The microelectronic component of any one of Claims 86 to 89, further comprising a second sensor configured to transduce the temperature at the target location of the electromagnetic device, wherein the second sensor provides the second signal representative of the temperature at the target location to the second terminal.

91. The microelectronic component of Claim 90, wherein the second sensor comprises a temperature sensor.

92. The microelectronic component of Claim 91, wherein the temperature sensor comprises at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

93. The microelectronic component of any one of Claims 86 to 92, wherein the target location comprises the input element.

94. The microelectronic component of any one of Claims 86 to 92, wherein the target location comprises the output element.

95. The microelectronic component of any one of Claims 86 to 92, wherein the target location comprises a stationary element.

96. The microelectronic component of any one of Claims 86 to 95, wherein the processing electronics comprises memory storing a database comprising values corresponding to a characteristic torque, wherein the characteristic torque is determined based at least in part on the determined temperature.

97. The microelectronic component of Claim 96, wherein the database comprises a look-up table of predetermined characteristic torques.

98. The microelectronic component of any one of Claims 86 to 97, wherein the processing electronics are further configured to determine a characteristic torque during operation of the electromagnetic device.

99. The microelectronic component of any one of Claims 86 to 98, wherein the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information.

100. The microelectronic component of any one of Claims 86 to 99, wherein the processing electronics are further configured to receive an angular acceleration, a moment of inertia, a rotational damping function, and a pole pair count of the input element and the output element to determine the input torque or the output torque.

101. The microelectronic component of Claim 100, wherein the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device.

102. The microelectronic component of Claim 100, wherein the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device.

103. The microelectronic component of any one of Claims 86 to 102, wherein the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and an angular acceleration and angular acceleration of the input element or the output element.

104. A system comprising a microelectronic component configured to determine an input torque or output torque, the system comprising: processing electronics configured to receive a first signal representative of kinematic information and a second signal representative of a temperature at a target location of an electromagnetic device; wherein the processing electronics are configured to process the first signal and the second signal and convert the first signal and the second signal to the output torque; andwherein the processing electronics produces a signal representative of the input torque or the output torque.

105. The system of Claim 104, further comprising a first sensor to be connected to the processing electronics and configured to transduce the kinematic information of an input element or an output element and provide the first signal to the processing electronics.

106. The system of any one of Claims 104 to 105, further comprising a third sensor to be connected to the processing electronics and configured to transduce kinematic information of an input element or an output element and provide a third signal to the processing electronics, wherein the processing electronics are further configured to receive the third signal representative of the kinematic information.

107. The system of any one of Claims 104 to 106, further comprising a second sensor to be connected to the processing electronics and configured to transduce the temperature, wherein the second sensor provides the second signal representative of the temperature at the target location of the electromagnetic device to the processing electronics.

108. The system of Claim 107, wherein the temperature sensor comprises at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

109. The system of any one of Claims 107 to 108, wherein the target location comprises an input element.

110. The system of any one of Claims 107 to 108, wherein the target location comprises an output element.

111. The system of any one of Claims 107 to 108, wherein the target location comprises a stationary element.

112. The system of any one of Claimsto 111, wherein the second sensor comprises a plurality of sensors, wherein the plurality of sensors provides a single signal representative of the temperature at the target location of the electromagnetic device to the processing electronics.

113. The system of any one of Claims 104 to 112, wherein the processing electronics comprises memory storing a database comprising values corresponding to a characteristic torque, wherein the characteristic torque is determined based at least in part on the temperature signal.

114. The system of Claim 113, wherein the database comprises a look-up table of predetermined characteristic torques.

115. The system of any one of Claims 104 to 114, wherein the processing electronics are configured to determine a characteristic torque during operation of the electromagnetic device.

116. The system of any one of Claims 104 to 115, wherein the processing electronics are further configured to determine an angular velocity, angular position, angular displacement, and angular acceleration of an input element or an output element from the kinematic information.

117. The system of any one of Claims 104 to 116, wherein the processing electronics are further configured to receive an angular acceleration, a moment of inertia, a rotational damping function, and a pole pair count of an input element and an output element to determine the input torque or the output torque.

118. The system of Claim 117, wherein the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are predetermined prior to operation of the electromagnetic device.

119. The system of Claim 117, wherein the angular acceleration, the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element are determined during operation of the electromagnetic device.

120. The system of any one of Claims 104 to 119, wherein the processing electronics are further configured to determine the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of an input element and an output element.

121. A method for determining a characteristic torque of an electromagnetic device, the method comprising: fixing an output element to prevent rotation of the output element; applying an input torque to an input element, wherein the input element is magnetically coupled with the output element; monitoring kinematic information of the input element;determining a slip torque occurring at a peak torque applied to the input element and at a first temperature, wherein the slip torque occurs when the output element slips from the input element; and calculating the characteristic torque at least based in part on the identified slip torque and the first temperature.

122. The method of Claim 121, further comprising monitoring the kinematic information of the input element with a first sensor.

123. The method of any one of Claims 121 to 122, further comprising monitoring kinematic information of the output element with a third sensor to identify when the slip torque occurs.

124. The method of any one of Claims 121 to 123, wherein a second sensor is configured to obtain the first temperature of the electromagnetic device.

125. The method of any one of Claims 121 to 124, wherein processing electronics are configured to calculate the characteristic torque, wherein the processing electronics comprises memory storing a database comprising values corresponding to the characteristic torque, wherein the characteristic torque is determined based at least in part on the identified slip torque and the first temperature.

126. The method of any one of Claims 121 to 125, further comprising repeating the steps at a plurality of temperatures to determine a corresponding plurality of characteristic torque values.

127. The method of Claim 126, further comprising creating a look-up table of the determined characteristic torque values from the plurality of temperatures.

128. A method for assembling a microelectronic component configured to determine an input torque or an output torque of an electromagnetic device, the method comprising: providing processing electronics configured to receive a first signal representative of kinematic information and a second signal representative of a temperature at a target location of the electromagnetic device, wherein the processing electronics are configured to process the first signal and the second signal and convert the first signal and the second signal to the input torque or the output torque; and producing via the processing electronics a signal representative of the input torque or the output torque based at least in part on the first signal and the second signal.

129. The method of Claim 128, further comprising connecting the microelectronic component to a first sensor configured to transduce the kinematic information of an input element or an output element and provide the first signal to the microelectronic component, connecting the first sensor to the input element or the output element.

130. The method of Claim 129, wherein the first sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

131. The method of any one of Claims 129 to 130, further comprising connecting to the microelectronic component a third sensor configured to transduce kinematic information of the input element or the output element and provide a third signal to the microelectronic component.

132. The method of Claim 131, further comprising connecting the third sensor to the input element or to the output element.

133. The method of any one of Claims 131 to 132, wherein the third sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

134. The method of any one of Claims 128 to 133, further comprising connecting to the microelectronic component a second sensor configured to transduce the temperature at the target location of the electromagnetic device, wherein the second sensor provides the second signal representative of the temperature at the target location to the microelectronic component.

135. The method of Claim 134, wherein the second sensor comprises a temperature sensor.

136. The method of Claim 135, wherein the temperature sensor comprises a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

137. The method of any one of Claims 134 to 136, wherein the target location comprises an input element of the electromagnetic device.

138. The method of any one of Claims 134 to 136, wherein the target location comprises an output element of the electromagnetic device.

139. The method of any one of Claims 134 to 136, wherein the target location comprises a stationary element of the electromagnetic device.

140. The method of any one of Claims 128 to 139, further comprising outputting via at least one output terminal the signal representative of the input torque or the output torque.

141. The method of any one of Claims 128 to 140, further comprising searching from a database stored in a memory of the processing electronics, wherein the database comprises values of a characteristic torque for a corresponding plurality of temperatures and accelerations.

142. The method of any one of Claims 128 to 141, further comprising determining a characteristic torque during operation of the electromagnetic device.

143. The method of any one of Claims 128 to 142, further comprising determining an angular velocity, angular position, angular displacement, and angular acceleration of an input element or an output element from the kinematic information.

144. The method of any one of Claims 128 to 143, further comprising receive a moment of inertia, a rotational damping function, and a pole pair count of an input element and an output element to determine the input torque or the output torque.

145. The method of any one of Claims 128 to 144, further comprising determining the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of an input element or an output element.

146. The method of any one of Claims 128 to 145, wherein the processing electronics use software or hardware to convert the first signal and the second signal to the input torque or the output torque.

147. The method of Claim 146, wherein the hardware comprises a buffer with increased processing speed and an integrated circuit comprising a look-up table of predetermined characteristic torques.

148. A method for determining an input torque or an output torque of an electromagnetic device, the method comprising: measuring a first kinematic information of an input element or an output element; measuring a target temperature at a location of the electromagnetic device; anddetermining by processing electronics at least one of the input torque or the output torque based at least in part of the determined first kinematic information and temperature.

149. The method of Claim 148, further comprising measuring the kinematic information of the input element or the output element via a first sensor, wherein the first sensor provides a first signal representative of the kinematic information to the processing electronics.

150. The method of any one of Claims 148 to 149, further comprising measuring the target temperature at the target location of the electromagnetic device via a second sensor, wherein the second sensor comprises a temperature sensors, and wherein the second sensor provides a temperature signal representative of the temperature at the target location to the processing electronics.

151. The method of any one of Claims 148 to 150, wherein the target location comprises the input element.

152. The method of any one of Claims 148 to 150, wherein the target location comprises the output element.

153. The method of any one of Claims 148 to 150, wherein the target location comprises a stationary element of the electromagnetic device.

154. The method of any one of Claims 148 to 153, further comprising measuring a second kinematic information of the input element or the output element.

155. The method of Claim 154, further comprising measuring the second kinematic information of either the input element or the output element via a third sensor, wherein the third sensor provides a second signal representative of the second kinematic information to the processing electronics.

156. The method of any one of Claims 148 to 155, further comprising searching from a database stored in a memory of the processing electronics, wherein the database comprises values of characteristic torque for a corresponding plurality of temperatures.

157. The method of any one of Claims 148 to 156, further comprising determining a characteristic torque during operation of the electromagnetic device.

158. The method of any one of Claims 148 to 157, further comprising determining an angular velocity, angular position, angular displacement, and angular acceleration of the input element or the output element from the kinematic information.

159. The method of any one of Claims 148 to 158, further comprising receiving a moment of inertia, a rotational damping function, and a pole pair count of the input element and the output element to determine the input torque or the output torque.

160. The method of Claim 159, further comprising providing the moment of inertia, the rotational damping function, and the pole pair count of the input element or the output element prior to operation of the electromagnetic device.

161. The method of Claim 159, further comprising determining the moment of inertia, the rotational damping function, and the pole pair count of the input element and the output element during operation of the electromagnetic device.

162. The method of any one of Claims 148 to 161, further comprising determining the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element.

163. A system for contactless torque sensing of an electromagnetic device, the system comprising: a first rotating element, wherein an input torque applied to the first rotating element; a second rotating element magnetically coupled to the first rotating element, wherein the second rotating element is configured to provide an output torque; a reference element maintained in a spaced relationship from the first rotating element and the second rotating element; a first sensor configured to transduce the change in kinematic information of the first rotating element; a second sensor configured to transduce the change in kinematic information of the second rotating element; at least one temperature sensing element coupled to the reference element, the at least one temperature sensing element configured to transduce a target temperature of the electromagnetic device; and an electronic device in communication with the first sensor, the second sensor, and the temperature sensing element, the electronic device comprising processing electronics and memory storing software instructions that when executed cause theprocessing electronics to process the measurements from the first sensor, the second sensor, and the temperature sensing element, wherein the electronic device is configured to execute the software instructions to at least: receive the measurements from the first sensor, the second sensor, and the temperature sensing element; process, with the processing electronics, the measurements to determine a torque applied by the second rotating element by identifying a characteristic torque of either the first rotating element or the second rotating element in a database based at least in part on the determined temperature, geometry of either the first rotating element or the second rotating element, and the materials of either the first rotating element or the second rotating element, wherein the database is stored in memory of the processing electronics; and output the determined torque applied to the second rotating element.

164. The system of Claim 163, wherein the second rotating element comprises magnetically responsive material and is disposed between the first rotating element and the reference element, so as to modulate a magnetic field of at least one of the first rotating element and the reference element.

165. The system of Claim 163, wherein the reference element comprises magnetically responsive material and is disposed between the first rotating element and the second rotating element, so as to modulate a magnetic field of at least one of the first rotating element and the second rotating element.

166. The system of any one of Claims 163 to 165, wherein the first rotating element comprises an input element.

167. The system of any one of Claims 163 to 166, wherein the first sensor and the second sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

168. The system of any one of Claims 163 to 167, wherein the temperature sensing element comprises a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

169. The system of any one of Claims 163 to 168, wherein the memory further comprises a database comprising of values corresponding to the characteristic torque.

170. A system for contactless torque sensing of an electromagnetic device, the system comprising: a first sensor configured to transduce the change in kinematic information of a first rotating element; a second sensor configured to transduce the change in kinematic information of a second rotating element, wherein the second rotating element is maintained in a spaced relationship from the first rotating element; at least one temperature sensing element coupled to a reference element, wherein reference element is maintained in a spaced relationship from the first rotating element and the second rotating element, the temperature sensing element configured to transduce a temperature of a target location of the electromagnetic device; and processing electronics in communication with the first sensor, the second sensor, and the at least one temperature sensing element, the processing electronics comprising memory storing software instructions that when executed cause the processing electronics to process the measurements from the first sensor, the second sensor, and the at least one temperature sensing element, wherein the electronic device is configured to execute the software instructions to at least: receive the measurements from the from the first sensor, the second sensor, and the at least one temperature sensing element; process, with the processing electronics, the measurements to determine a torque applied to an output element by searching a database comprising various characteristic torque values for a corresponding plurality of temperatures, the characteristic torque values of the electromagnetic device corresponding at least to the temperature, geometry of the electromagnetic device, and the materials of the electromagnetic device; and provide the determined torque applied to the second rotating element.

171. The system of Claim 170, wherein the second rotating element comprises magnetically responsive material and is disposed between the first rotating element and the reference element, so as to modulate a magnetic field of at least one of the first rotating element and the reference element.

172. The system of Claim 170, wherein the reference element comprises magnetically responsive materials and is disposed between the first rotating element and the second rotating element, so as to modulate a magnetic field of at least one of the first rotating element and the second rotating element.

173. The system of any one of Claims 170 or 172, wherein the output element comprises the second rotating element.

174. The system of any one of Claims 170 to 173, wherein the first rotating element comprises an input element.

175. The system of any one of Claims 170 to 174, wherein the first sensor and the second sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

176. The system of any one of Claims 170 to 175, wherein the at least one temperature sensing element comprises a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

177. The system of any one of Claims 170 to 176, wherein the memory further comprises a database comprising of values corresponding to the characteristic torque.

178. A system configured to determine a torque of an electromagnetic device, the system comprising: processing electronics and memory storing software instructions, the processing electronics configured to connect to a first sensor configured to transduce the change in kinematic information of a first rotating element and at least one temperature sensing element coupled to a reference element maintained in a spaced relationship from the first rotating element configured to transduce a temperature of the electromagnetic device, wherein the electronic device is configured to execute the software instructions to at least: receive the measurements from the first sensor and the at least one temperature sensing element; process, with the processing electronics, the measurements to determine a torque applied to a second rotating element by searching a database comprising various characteristic torque values for a corresponding plurality of temperatures, the characteristic torque values of the electromagnetic devicecorresponding at least to the temperature, geometry of the electromagnetic device, and materials of the electromagnetic device; and provide the determined torque applied to the second rotating element.

179. The system of Claim 178, wherein the processing electronics are further configured to connect to a second sensor configured to transduce the change in kinematic information of the second rotating element, wherein the second rotating element is maintained in a spaced relationship from the first rotating element and the reference element.

180. The system of Claim 179, wherein the second rotating element comprises magnetically responsive material and is disposed between the first rotating element and the reference element, so as to modulate a magnetic field of at least one of the first rotating element and the reference element.

181. The system of Claim 179, wherein the reference element comprises magnetically responsive material and is disposed between the first rotating element and the second rotating element, so as to modulate a magnetic field of at least one of the first rotating element and the second rotating element.

182. The system of any one of Claims 179 or 181, wherein the second rotating element comprises an output element.

183. The system of any one of Claims 179 to 182, wherein the first rotating element comprises an input element.

184. The system of any one of Claims 179 to 183, wherein the second sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

185. The system of any one of Claims 178 to 184, wherein the first sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

186. The system of any one of Claims 178 to 185, wherein the first sensor comprises a resolver.

187. The system of any one of Claims 178 to 186, wherein the temperature sensing element comprises a at least one of a thermocouple, a thermistor, a resistance temperature detector, and a silicon bandgap sensor.

188. The system of any one of Claims 178 to 187, wherein the memory further comprises a database comprising of values corresponding to the characteristic torque.

189. The system of any one of Claims 178 to 188, wherein the processing electronics are further configured to perform a feedback loop, wherein the processing electronics monitor the kinematic information, an input torque or an output torque, and the temperature to improve an efficiency of the electromagnetic device.

190. A method for torque sensing of an electromagnetic device, the method comprising: obtaining data indicative of kinematic information of a first rotating element, kinematic information of a second rotating element, and a temperature of the electromagnetic device, wherein the electromagnetic device comprises the first rotating element, the second rotating element, and a reference element magnetically coupled to one another; identifying from at least the temperature of the electromagnetic device a characteristic torque of the first rotating element; processing via processing electronics a radial position change of the first second rotating element and the second rotating element from the kinematic information and the characteristic torque of the first rotating element to determine an input torque or an output torque applied to the second rotating element; and providing the input torque or the output torque applied to the output element.

191. The method of Claim 190, wherein the characteristic torque is further identified by geometry and material selection at a given temperature.

192. The method of any one of Claims 190 to 191, wherein a first sensor senses the radial position change of the first rotating element and a second sensor senses the radial position change of the second rotating element.

193. The method of Claim 192, wherein the first sensor and the second sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

194. The method of any one of Claims 190 to 193, wherein at least one temperature sensing element is coupled to the reference element and configured to transduce the temperature of the electromagnetic device.

195. The method of Claim 194, wherein the temperature sensing element comprises a at least one of a thermocouple, a thermistor, a resistance temperature detector, a hall effect sensor, and a silicon bandgap sensor.

196. The method of any one of Claims 190 to 195, wherein identifying the characteristic torque comprises retrieving the characteristic torque from a look-up table.

197. The method of any one of Claims 190 to 195, wherein identifying the characteristic torque comprises dynamically determining the characteristic torque during operation of the electromagnetic device.

198. The method of any one of Claims 190 to 197, wherein the first rotating element comprising an input element and the second rotating element comprises an output element.

199. The method of any one of Claims 190 to 198, further comprising determining an angular velocity, angular position, angular displacement, and angular acceleration of the first rotating element or the second rotating element from the radial position change.

200. The method of any one of Claims 190 to 199, further comprising receiving a moment of inertia, a rotational damping function, and a pole pair count of the first rotating element and the second rotating element to determine a load torque applied to the output element.

201. The method of Claim 200, further comprising providing the moment of inertia, the rotational damping function, and the pole pair count of the first rotating element and the second rotating element prior to operation of the electromagnetic device.

202. The method of Claim 200, further comprising determining the moment of inertia, the rotational damping function, and the pole pair count of the first rotating element and the second rotating element during operation of the electromagnetic device.

203. The method of any one of Claims 190 to 202, further comprising determining the input torque or the output torque at least based on at a locked rotor condition of the electromagnetic device and the kinematic information of the input element or the output element.

204. An electromagnetic device, the electromagnetic device comprising: an input element to which an input torque is to be applied and an output element configured to provide an output torque, the output element magnetically coupled with the input element;a first sensor configured to transduce kinematic information of the input element or the output element, wherein the first sensor generates a first signal representative of the kinematic information; a second sensor configured to transduce a temperature at a target location of the electromagnetic device, wherein the second sensor generates a temperature signal representative of the temperature at the target location; and a transmission unit configured to output the first signal and the second signal over a wireless or wired channel.

205. The electromagnetic device of Claim 204, further comprising processing electronics configured to receive the first signal and the second signal from the transmission unit and configured to: receive an output torque setting; determine an output torque value based at least in part on the kinematic information and the temperature; compare the determined output torque value to the output torque setting; and generate a signal when the determined output torque value meets the output torque setting.

206. The electromagnetic device of Claim 205, wherein the processing electronics are further configured to generate a control signal to a drive system based at least in part on the determined output torque values, wherein the control signal is configured to modify a motion command to the drive system when the output torque setting exceeds or approaches the determined output torque value.

207. The electromagnetic device of any one of Claims 205 to 206, wherein the processing electronics are further configured to apply a compensation adjustment based at least on environmental parameters including temperature, humidity, vibration, and wind loads.

208. The electromagnetic device of any one of Claims 205 to 207, wherein the processing electronics are further configured to generate the signal when the determined output torque value is in a range of 50% to 99% of the output torque setting.

209. The electromagnetic device of any one of Claims 205 to 208, wherein the processing electronics are further configured to generate the signal when the determined output torque value is at 100% of the output torque setting.

210. The electromagnetic device of any one of Claims 205 to 209, further comprising an input interface configured to receive the output torque setting.

211. The electromagnetic device of Claim 210, wherein the input interface comprises a digital display, input buttons, a rotary dial, a touchscreen, a wireless transceiver, and a signal input from an external device configured to provide the output torque setting.

212. The electromagnetic device of any one of Claims 205 to 211, further comprising an audible indicator configured to emit a sound signal in response to the generated signal.

213. The electromagnetic device of Claim 212, wherein the audible indicator emits a pattern of beeps at least based on the determined output torque value approaching the output torque setting.

214. The electromagnetic device of any one of Claims 205 to 213, further comprising a visual indicator configured to emit a light signal in response to the generated signal.

215. The electromagnetic device of any one of Claims 205 to 214, wherein the processing electronics is configured to disable operation of the electromagnetic device once the determined output torque value exceeds the output torque setting.

216. The electromagnetic device of Claim 215, wherein the processing electronics causes a slip torque.

217. The electromagnetic device of any one of Claims 205 to 216, further comprising a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the output torque based at least in part on the kinematic information from the first sensor and the third sensor and the temperature.

218. The electromagnetic device of any one of Claims 204 to 217, wherein the first sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

219. The electromagnetic device of any one of Claims 204 to 218, wherein the output torque applied by the electromagnetic device is controlled based at least on a predefined or user-selected torque profile.

220. The electromagnetic device of any one of Claims 204 to 219, wherein the transmission unit is further configured to transmit the first signal and the second signal for data logging at a local storage device or a remote system.

221. The electromagnetic device of any one of Claims 204 to 220, further comprising a user authentication system configured to enable operation of the electromagnetic device upon successful authentication of a user.

222. The electromagnetic device of any one of Claims 204 to 221, further comprising a self-calibration module configured to detect wear and tear in one or more components of the electromagnetic device and adjust operational parameters to compensate for performance degradation.

223. An electromagnetic device, the electromagnetic device comprising: an input element to which an input torque is to be applied and an output element configured to provide an output torque, the output element magnetically coupled with the input element; and processing electronics configured to receive a first signal representative of kinematic information of the input element or the output element and a second signal representative of a temperature at a target location of the electromagnetic device, wherein the processing electronics generate a signal when an output torque value based at least in part on the kinematic information and the temperature and meets an output torque setting.

224. The electromagnetic device of Claim 223, further comprising a first sensor configured to transduce the kinematic information of the input element or the output element, wherein the first sensor generates the signal representative of the kinematic information.

225. The electromagnetic device of Claim 224, further comprising a third sensor configured to transduce kinematic information of the input element or the output element, and wherein the processing electronics are further configured to determine the output torque based at least in part on the kinematic information from the first sensor and the third sensor and the temperature.

226. The electromagnetic device of any one of Claims 224 to 225, wherein the first sensor comprises at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

227. The electromagnetic device of any one of Claims 223 to 226, further comprising a second sensor comprising a temperature sensor and configured to transduce the temperatureat the target location of the electromagnetic device, wherein the second sensor generates the temperature signal representative of the temperature at the target location.

228. The electromagnetic device of any one of Claims 223 to 227, wherein the processing electronics are further configured to: receive the output torque setting; and compare the output torque value to the output torque setting.

229. The electromagnetic device of any one of Claims 223 to 228, further comprising an input interface configured to receive the output torque setting.

230. The electromagnetic device of Claim 229, wherein the input interface comprises at least one of a digital display, input buttons, a rotary dial, a touchscreen, a wireless transceiver, and a signal input from an external device configured to provide the output torque setting.

231. The electromagnetic device of any one of Claims 223 to 230, further comprising an audible indicator configured to emit a sound signal in response to the generated signal.

232. The electromagnetic device of Claim 231, wherein the audible indicator emits a pattern of beeps at least based on the output torque value approaching the output torque setting.

233. The electromagnetic device of any one of Claims 223 to 232, further comprising a visual indicator configured to emit a light signal in response to the generated signal.

234. The electromagnetic device of any one of Claims 223 to 233, wherein the processing electronics is configured to disable operation of the electromagnetic device once the output torque value exceeds the output torque setting.

235. The electromagnetic device of Claim 234, wherein the processing electronics induces a slip torque.

236. The electromagnetic device of any one of Claims 223 to 235, wherein the processing electronics are further configured to generate a control signal to a drive system based at least in part on the determined output torque values, wherein the control signal is configured to modify a motion command to the drive system when the output torque setting exceeds or approaches the determined output torque value.

237. The electromagnetic device of any one of Claims 223 to 236, wherein the output torque applied by the electromagnetic device is controlled based at least on a predefined or user-selected torque profile.

238. The electromagnetic device of any one of Claims 223 to 237, wherein the processing electronics are furthered configured to apply a compensation adjustment based at least on environmental parameters including temperature, humidity, vibration, and wind loads.

239. The electromagnetic device of any one of Claims 223 to 238, wherein the processing electronics are furthered configured to generate the signal when the determined output torque value is in a range of 50% to 99% of the output torque setting.

240. The electromagnetic device of any one of Claims 223 to 239, wherein the processing electronics are furthered configured to generate the signal when the determined output torque value is at 100% of the output torque setting.

241. The electromagnetic device of any one of Claims 223 to 240, wherein the processing electronics are furthered configured to transmit the first signal and the second signal for data logging at a local storage device or a remote system.

242. The electromagnetic device of any one of Claims 223 to 241, further comprising a user authentication system configured to enable operation of the electromagnetic device upon successful authentication of a user.

243. The electromagnetic device of any one of Claims 223 to 242, further comprising a self-calibration module configured to detect wear and tear in one or more components of the electromagnetic device and adjust operational parameters to compensate for performance degradation.

244. A method for operating an electromagnetic device, the method comprising: receiving an output torque setting; obtaining data indicative of kinematic information of an input element and kinematic information of an output element, and a temperature of the electromagnetic device, wherein the electromagnetic device comprises the input element and the output element, the output element magnetically coupled with the input element; processing, via processing electronics, a change in the kinematic information of the input element and the output element and the temperature to determine an output torque value;comparing the determined output torque value to the output torque setting; and generating a signal when the determined output torque value meets the output torque setting.

245. The method of Claim 244, wherein a first sensor senses the change in the kinematic information of the input element and a second sensor senses the change in the kinematic information of the output element.

246. The method of Claim 245, wherein the first sensor and the second sensor comprise at least one of an optical encoder, an inductive encoder, a capacitive encoder, a resolver, a Hall effect sensor, and a magnetic encoder.

247. The method of any one of Claims 244 to 246, wherein receiving the output torque setting comprises inputting the output torque setting via an input interface.

248. The method of Claim 247, wherein the input interface comprises at least one of a digital display, input buttons, a rotary dial, a touchscreen, a wireless transceiver, and a signal input from an external device configured to provide the output torque setting corresponding to the output torque setting.

249. The method of any one of Claims 244 to 248, wherein generating the signal comprises emitting a sound signal in response to the generated signal via an audible indicator.

250. The method of Claim 249, wherein the audible indicator emits a pattern of beeps at least based on the determined output torque value approaching the output torque setting.

251. The method of any one of Claims 244 to 250, wherein generating the signal comprises emitting a light signal in response to the generated signal via a visual indicator.

252. The method of any one of Claims 244 to 251, further comprising disabling operation of the electromagnetic device once the determined output torque value exceeds the output torque setting.

253. The method of Claim 252, wherein disabling operation of the electromagnetic device comprises causing a slip torque.

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