The motor used for this research was an axial-flux machine
with 10 magnet pairs (20 magnets in total) on the rotor and a
24 slot stator with an electromagnet on every second tooth (12
in total). A torque sensor was attached between the stator and
the chassis and is used to measure the reaction torque. An
incremental encoder with a resolution of 4096 pulses per
revolution was attached to the rotor. The design incorporates
an eddy current brake which is used to adjust the load on the
motor. Figure 3 shows a picture of the system.