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. Author manuscript; available in PMC: 2019 May 15.
Published in final edited form as: IEEE ASME Trans Mechatron. 2017 Nov 1;22(6):2780–2789. doi: 10.1109/TMECH.2017.2767906

Table 4.

Motor comparative study

Stoianovici
[16]		 Sajima
[19]		 Chen
[24]		 Chen
[20]		 Piezomotor
[42]		 Proposed
motor3
Size (mm) ∅85 × 30 ∅30 × 35 95 × 60 × 37 ∅10 × 60 ∅35 × 31.5 ∅44 × 794
#of Components ~25 ~10 6 7 N/A 5
Resolution (des)1 3.33 4.19 3.6 60 0.72 1.8
Speed (rpm) 166.6 50 2.4 90 300 370
Torque (mNm)2 640 150 800 2.4 100 460
Power (W) 35 0.47 0.126 0.0113 2.5 6
Encoding Yes No No No Yes Yes
MR-safe/conditio nal MR-safe MR-safe MR-conditional MR-conditional MR-conditional MR-conditional
1

Resolution indicates the step size of the state-of-art step motors or resolution of the piezo motor encoder;

2

Torque is the reported maximum shaft output value with gearbox if any;

3

The proposed motor is coupled with a 100:1 gearbox;

4

The motor total length varies with respect to the number of gearbox modules;

5

This is calculated from torque-speed data under normal operation range. The motor power is the function of air hose length, input pressure and speed. Maximum power was measured up to 37W.