Use of a Torque Motor as a Tachometer

Circuitry is described whereby an Aeroflex linear torque motor, used to deliver precise torque waveforms in the study of primate motor control, can be used as its own tachometer. This circuitry allows manipulanda using this type of motor to be made smaller, and with less moment of inertia, than would be possible with the installation of a separate tachometer unit.