Incremental magnetic encoder

An incremental magnetic encoder defining an encoder axis and comprising a fixed body and a body movable relative to the fixed body in at least one first encoding direction;

• one of the bodies, referred to as the first body, comprising:
• a first toothed component extending along a longitudinal direction coincident with the encoder axis and a circumferential direction perpendicular to the longitudinal direction, one of said directions corresponding to the first encoding direction, the first toothed component defining a plurality of teeth made of magnetic or ferromagnetic material and arranged along the first encoding direction;
• the other body, referred to as the second body, comprising:
• a second toothed component extending in the longitudinal direction and the circumferential direction, the second toothed component defining a tooth made of magnetic or ferromagnetic material and arranged facing the teeth of the first toothed component during each movement of the movable body in the first encoding direction;
• at least one pair of magnetic coils configured to measure each variation in inductance between the first toothed component and the second toothed component, to quantify each movement of the movable body in the first encoding direction;
• the magnetic coils being further configured to be energised during operation of the encoder, to create a torque or a detent force between the first toothed component and the second toothed component during each respective movement of these components in the first encoding direction.