HANDWHEEL ACTUATOR ASSEMBLY

A handwheel actuator assembly for a steer by wire steering system of a vehicle is disclosed. The assembly comprises a steering wheel and a feedback torque generator. The steering wheel has at least one hand grip portion rotatable around an axis of rotation of the steering wheel which can be gripped by a driver and a hub that supports the hand grip portion. The feedback torque generator comprises an electric motor which has a stator and a rotor . The rotor is directly or indirectly fixed to and rotates with the hub of the steering wheel and the stator is secured to a fixed part of the vehicle body such that it cannot rotate relative to the vehicle body. The motor comprises a brushless permanent magnet Vernier motor.