Drive roller control for toric-drive transmission

A toric-drive transmission comprising:

• a drive disk for receiving a power input;
• a driven disk for transmitting a power output;
• a roller device having a roller displaceably mounted between the drive disk and the driven disk, the roller having three rotational degrees of freedom, a first one of the rotational degrees of freedom for transmitting motion from the drive disk to the driven disk so as to convert the power input to the power output, a second one of the rotational degrees of freedom for varying a ratio of the power output to the power input as a function of an orientation of the roller along the second one of the rotational degrees of freedom, and a third one of the rotational degrees of freedom for initiating a rotation of the roller about the second one of the rotational degrees of freedom;
• and
• a controller system operatively connected to the roller device for changing the orientation of the roller in the second one of the rotational degrees of freedom by actuating a displacement of the roller in the third one of the rotational degrees of freedom.