Direct-drive sim racing wheel

A direct-drive simulator steering wheelbase (sometimes abbreviated "DD wheel") is a simulator steering wheel with a direct-drive mechanism between the drive and output, i.e. without gearing (as opposed to simulator steering wheels with reduction gearing via gears or belts ^{[1] [2] [3] [4]} ), and is used similarly as with other simulator steering wheels for providing torque feedback (often called ""force" feedback", or FFB) so that the driver, through movement in the steering wheel, gets an interface for sensing what is happening to the car in the simulator. It is an example of human–computer interaction in driving simulators, racing simulators, and racing video games, and is an example of haptic technology

Direct-drive steering wheels typically differ from geared or belted sim racing wheels by being stronger (having more torque), and being able to more accurately reproduce details from the simulator. They are typically constructed using a 3-phase brushless AC servomotor (on more expensive models), or sometimes a hybrid stepper-servomotor, or only a stepper motor ^[5] (on very affordable models).

In a direct drive simracing steering wheel system, the wheelbase and the wheel rim are typically separate, so that is possible to switch between rims according to the use case, for instance formula wheelrims, GT wheelrims, oval racing or truck wheel rims. The base and the rim are typically connected through a quick release system.

History

See also: Direct-drive mechanism

Direct-drive mechanisms for use in industrial arms began to be possible in the 1980s, with the use of rare-earth magnets, ^[3] of which today the most commonly used are neodymium magnets. ^[6]

Before the 1980s, servo motors were not powerful enough (did not have enough torque) to be used directly, and therefore reduction gears or mechanical belts were added to the motor to leverage and multiply its power. ^[3] Higher-power motors were not feasible due to the expensive rare-earth materials needed to build them. This problem was surpassed in the 1980s, with the development of less-expensive high-power magnets. ^[3]

In 2013, direct-drive sim steering wheels were introduced in large scale to the consumer mass market as a more advanced alternative to gear- and belt-driven steering wheels. The first commercially broadly available direct-drive wheel base was released in 2013 by the UK-based Leo Bodnar Electronics, after having been retailing to racing teams and professional centers since 2008. ^[7] It was followed in 2015 by the US-based SimXperience AccuForce V1, and by the first do-it-yourself open-source hardware OpenSimwheel or "OSW" kits for users with good technical knowledge.

In 2015, a preliminary comparison of gear-driven and direct-drive wheels in the 0–30 Hz frequency range, for a study on hard real-time multibody simulation and high-fidelity steering wheel force feedback, concluded that direct-drive wheels are preferable. ^[8]

Simucube was one of the manufacturers who previously provided Open Sim Wheel kits, and is a brand name owned by the Finnish manufacturer Granite Devices, which also supplies driver electronics for controlling servomotors and stepper motors, both for sim racing and industrial use. Granite Devices started as a hobby project by the Finn Kontkanen Tero when he was building a CNC milling machine, and realised that there was many alternating current servomotors of high quality on the market, but that driver electronics for controlling such motors was expensive or hard to come by. He investigated the operation of AC servos, and realized that it was possible to make usable control electronics with a handful of the latest electronic components and some real-time algorithms. The development of the controller then took around a year. The electronics are based on an IONI motherboard and STM32F4, and a proprietary firmware called MMos. An open source version of this software has been planned for release, but has not yet been released as of 2022. ^[9]

Performance metrics

Issues, quality, and performance indicators of direct-drive wheels, and of sim racing wheels in general, include detail and fidelity of force feedback, smooth torque transmission, nearly-zero backlash, rotary encoder resolution, clipping, dynamic range, torque ripple, ^[2] cogging torque, ^[10] drivers and digital signal processing with control electronics, ^{[2] [11]} signal filtering, ^[8] backdrive friction, ^{[10] [12]} low inertia, ^[12] damping, ^[12] fast response, precise positioning, electromagnetic interference, ^[13] and latency.

Construction

Motors

Industrial servomotors and gearboxes, with standardised flange mountings for interchangeability.

The Leo Bodnar, OSW kits, Sim-pli.city and VRS systems are based on industrial servo motors (typically MiGE, Lenze, or Kollmorgen motors), while SimXperience's AccuForce, Frex, Simucube (which initially used a MiGE motor), Fanatec, and Simagic use custom-made motors. The types of motors used vary between high-end 3-phase brushless servomotors ^[14] and lower budget hybrid stepper-servo motors. ^[1] In-runner servo motors are typically smoother and more expensive than stepper or outrunner motors. ^[15] Outrunner motors typically can produce more torque than inrunner motors, ^[16] but need more cooling at higher torque levels.

Control electronics

Other than the motor, other parts of a complete direct-drive wheelbase include a rotary encoder (the position sensor), a controller board (that translate the FFB data from the game into steering wheel forces), and a motor driver board (servo drive), which fits into a slot of the controller board, and that controls the position, velocity and torque output of the motor. ^[17] Examples of encoders are the Biss-C and the SinCos encoders, an example of a controller board is the Simucube board, and some examples of motor driver boards are the IONI and the Argon ones.

The motor encoder reads the position and/or motion (torque and rotation) of the shaft. ^[16] The resolution of the encoder is typically measured in PPR (pulses per revolution), but sometimes CPR (counts, or steps, per revolution) is used instead, where 1 pulse equals 4 counts. ^{[18] [19] [20] [21]} The main advantage of very high resolution encoders is the ability to implement more advanced firmware or software FFB filters to the force feedback signal; for instance, encoders with a 21-bit resolution or more (2M steps or cpr), like the SinCos encoder, allow the servo-motor electronics to handle the filters more smoothly, and also allow to have more nuances in the FFB signal. ^[22]

One of the main purposes of FFB filters is to optimize the FFB signal for a given wheelbase and rim device. ^{[23] [24]} The most basic FFB filters include the reconstruction filter, damper, friction and inertia. The reconstruction filter is included even in non-directdrive wheelbases, and has the effect of interpolating and smoothing the FFB signal from the game, to reduce the noise and artifacts from the FFB signal caused by the low update rate of a racing game. ^{[23] [25] [26]} The wheel rim weight and size also have a significant effect on the perceived FFB signal, with lighter and smaller wheels being able to move faster and deliver more details. ^[23]

More advanced FFB filters include static force reduction and slew rate reduction filter. The static force reduction filter was introduced to address a problem that emerged with high-torque DD wheelbase, due to their force output making too difficult to even turn the wheel with some cars in high-speed corners. ^[23] The static force reduction filter introduced with Simucube 2 wheelbase allowed to address this issue while keeping a fully linear signal. A side-effect of this filter however is that while turning the wheel one feels a weakening of the FFB signal, which some drivers might dislike. ^{[23] [27]} Similarly, the slew rate reduction filter reduces or dampens sudden acceleration spikes in FFB torque, due for example to hitting kerbs or bumps. ^[27] Therefore, the static force reduction and slew rate reduction filters make feasible to drive with higher maximum torque settings, which can enhance micro-details in the FFB signal. ^[27]

Torque

The torque says something about how "powerful" the engine is, and can be specified in two ways:

• Continuous torque, the greatest load of which the motor still can perform continuous movement at a continuous speed, and thus performing continuous work
• Stall torque, the load which will cause the motor to stop so that it can no longer move, and thus produces a holding torque, but not performing any work

The latter always gives a higher number in newton-meters, and is therefore the number that usually is communicated the most by manufacturers to consumers, but is actually a less useful specification since the steering wheel in theory does not perform any work when rotation has stopped. One must therefore be aware of the type of torque specification given when comparing two motors. The relationship between the continuous torque and stall torque can vary between motors, and can say something about the motor characteristics (responsiveness versus strength).^{[ citation needed ]}

For comparison, usually around 7-10 Nm is experienced in a street car, and on steering wheels with very high torque (e.g. 20 Nm) it may therefore be appropriate to adjust the torque down in the software. However, the stronger motors will often have a faster slew rate (the time an amplifier takes to respond to a signal) which gives better steering response and more realism.

Steering wheel mount

Similar to many real-world racing cars, sim-racing steering wheels usually come with a bolt circle of 6×70 mm, which means the wheel is mounted to the base via 6 evenly spaced out screws along a 70 mm circle on the steering wheel. Other bolt circles are sometimes used.

Some steering wheels attach to the base via quick release, as is commonly seen on many real-world racing cars, and these come in many varieties: Proprietary quick releases (e.g. Fanatec QR1 or Simucube SQR, the latter which has a wedge-shaped dovetail), or standardized quick releases such as the D1 spec (used by many manufacturers, including SimXperience, Simagic, Moza, IMMSource). D1 spec couplers are built to the same pattern as the NRG quick coupler approved for use in real-world racing cars per SFI Spec 42.1. ^[28] Formerly, another common aftermarket quick release has been the Q1R type (not to be confused with the Fanatec QR1). Some quick releases have (often proprietary) integrated contact pins for transferring power and data to buttons and displays on the wheel, but these usually do not work across manufacturers. Others instead use wireless transmission via Bluetooth and inductive (magnetic) power transfer via the quick release. If using a steering wheel and base from two different manufacturers, it is usually possible to connect the steering wheel electronics to the base via a separate USB cable, for example connecting between USB-C, Micro, Mini, or Type B interfaces on the base and wheel.

Base mount

On bases with a high torque, the most robust mounting is usually achieved using an industry-standard front-mounted flange mount, and this is often preferred among sim racers, as such base mounts usually are less inclined to bend during heavy steering movements. This typically gives a shorter lever and therefore more sturdy mounting due to less torque on the mounting interface. A de facto industry standard among sim wheels, which again stems from a widely used mechanical industry standard, is a front mount with a bolt circle measuring 4×130 mm diameter and metric M8 screws, which means that four screws are evenly placed along a circle measuring 130 mm in diameter. This roughly corresponds to a square of 91.9 mm × 91.9 mm, which is often quoted as a square pattern with 92 mm long sides.

There are also a number of other proprietary patterns for mounting the base to a sim racing cockpit or table. Some of these instead have mounting on the sides or underside of the base.

List of direct-drive bases

Main specifications

Sorted chronologically by time of introduction:

Model	Introduced	Peak torque (stall torque)	Holding torque	Slew rate (Nm/ms)	Encoder Resolution	Motor
LeoBodnar Sim Steering	2013 [7] [29]	16 Nm [30]	8 Nm		12-bit (40k cpr / 10k ppr) EJ encoder [30] [31] [32]	Kollmorgen AKM52G-ANCNEJ00, [33] brushless servomotor, ⌀ 24.2 mm shaft
LeoBodnar Sim Steering 2 (standard 52 version)	2015 [7] [30] [34]	16 Nm [1]	8 Nm [30]		24-bit (16.7M cpr) C resolver ("SFD, Smart Feedback Device") [30]	Kollmorgen AKM52G-ANCNC-00, [30] [35] brushless servomotor, ⌀ 24.2 mm shaft
LeoBodnar Sim Steering 2 (53 version)	2015 [7] [30] [34]	20.5 [36]	missing data		24-bit (16.7M cpr) 16.7M cpr C resolver ("SFD, Smart Feedback Device") [30]	Kollmorgen AKM53G, brushless servomotor, ⌀ 24.2 mm shaft
"OSW" DIY kit, Lenze	2015 [37]	29 Nm [38]	11.4 Nm [38]		16k ppr [38]	Lenze MCS12H15L [1] [38]
"OSW" DIY kit, M15	2015 [37]	30 Nm [38]	15 Nm [38]		10k ppr [38]	MiGE 130ST-M15015 (large MiGE), [38] ⌀ 22 mm shaft
"OSW" DIY kit, M10	2015 [37]	20 Nm [38]	10 Nm [38]		10k ppr [38]	MiGE 130ST-M10010 ("small MiGE"), ⌀ 22 mm shaft
"OSW" DIY kit, Hobbystar	2015 [37]	20 Nm [38]	10 Nm [38]		10k ppr [38]	MiGE 130ST-M10010 ("small MiGE"), ⌀ 22 mm shaft
Reimer Motorsports OpenSimwheel Premium [39]	2015[ citation needed ]	29 Nm [39]	20 Nm [39]		16k cpr [39]	Lenze MCS12H15L [39]
Reimer Motorsports OpenSimwheel Premium AKM52 [14]	2015[ citation needed ]	24 Nm [14]	missing data		32k cpr [14]	Kollmorgen AKM52 3-phase AC servo, [14] ⌀ 24.2 mm shaft
SimXperience AccuForce V1	2015 [40]	16 Nm	13 Nm [40]		16k PPR encoder [40]	Stepper motor, ⌀ 14 mm shaft
Frex SimWheel DD	2016 [41]	16 Nm	missing data			MiGE servomotor
Sim-pli.city SW20	2017 [42]	20 Nm [42]	10 Nm		10k ppr encoder [43]	MiGE 130ST-M10010 (small MiGE), [43] inrunner, ⌀ 22 mm shaft
SimXperience AccuForce V2	2017	15.6 Nm	13 Nm		16k resolution	Hybrid stepper/servomotor, [1] ⌀ 14 mm shaft
Simucube-based pre-assembled OSW kit (large MiGE)	(before 2018)	30 Nm [44]	15 Nm [44]		5k or 10k ppr encoder [44]	MiGE 130ST-M15015, inrunner, ⌀ 22 mm shaft
Simucube-based pre-assembled OSW kit (small MiGE)	(before 2018)	20 Nm [44]	10 Nm [44]		5k or 10k ppr encoder [44]	MiGE 130ST-M10010, inrunner, ⌀ 22 mm shaft
Simucube-based pre-assembled OSW kit Biss-C (2018 version), M15	2018 [45]	30 Nm	15 Nm		22-bit (4.2M cpr) in the 2018 version [45]	MiGE 130ST-M15015, [45] inrunner, ⌀ 22 mm shaft
Simucube-based pre-assembled OSW kit Biss-C (2018 version), M10	2018 [45]	20 Nm	10 Nm		22-bit (4.2M cpr) in the 2018 version [45]	MiGE 130ST-M10010 or MiGE 130ST-M15015, [45] inrunner, ⌀ 22 mm shaft
simracingbay "OSW" DIY kit	2018 [46]	20 Nm [46]	10 Nm [46]		22-bit (4.2M cpr) [47] (originally 2.1M cpr) [46]	MiGE 130ST-M10010, [46] ⌀ 22 mm shaft
Augury Simulations SimuCube OSW Kit	2018	18 Nm [35]	6 Nm			MiGE servomotor, ⌀ 22 mm shaft
Sim-pli.city SW7C	2018 [35]	7.1 Nm [35]	2.4 Nm			Mige 80ST Series Motor, [35] inrunner, [48] ⌀ 21.5 mm shaft
Sim-pli.city SW20 V3 [49]	2019	20 Nm [1]	10 Nm		23-bit (8M cpr) [50]	MiGE 130ST-M10010, [1] [50] inrunner, ⌀ 22 mm shaft
Simucube 2 Sport	2019-04-03 [15]	17 Nm	missing data	4.8	22-bit absolute (4.2M cpr) [51]	ultra low torque ripple Brushless Servomotor, inrunner
Simucube 2 Pro	2019-04-03 [1] [15]	25 Nm	missing data	8.0	22-bit absolute (4.2M cpr) [52]	ultra low torque ripple Brushless Servomotor, [53] inrunner
Simucube 2 Ultimate	2019-04-03 [15]	32 Nm	missing data	9.5 [15]	24-bit absolute 24-bit, 16M cpr [15]	ultra low torque ripple Brushless Servomotor, inrunner
Fanatec Podium DD2	2019 [54]	25 Nm	missing data		16-bit (65k cpr) (was 8-bit initially) [55] [56]	Custom-made outrunner servomotor, [53] hollow ⌀ 1+1⁄4 in (32 mm) shaft with USB-C for data and power
Fanatec Podium DD1	2019 [54]	20 Nm	missing data		16-bit (65k cpr) (was 8-bit initially) [55] [56]	Custom-made outrunner [nb 1] servomotor, [57] [53] hollow ⌀ 1+1⁄4 in (32 mm) shaft with USB-C for data and power
Fanatec Clubsport DD	2023		12 [58]
Fanatec Clubsport DD+	2023		15 [58]
Simagic Dynamic M10	2020-01 [59] [60]	10 Nm [61]	missing data			Servo-Stepper Motor [61]
Sim-pli.city SW8C+	2020[ citation needed ]	8 Nm [61]	6 Nm		23-bit (8M cpr) [50]	MiGE 110ST-M06030, [1] [50] inrunner
VRS DirectForce Pro	2020 [1]	20 Nm	10 Nm		22-bit (4M cpr), [55] absolute Biss encoder [62]	MiGE 130ST-M10010, inrunner, ⌀ 22 mm shaft
Simagic Alpha	2020-12-05	15 Nm [1]	missing data		18-bit [55] [63] based on hall sensor	3-phase servomotor [1]
Simagic Alpha-U (or Alpha Ultimate)	2021-10-13 [64]	23 Nm [63]	missing data		18-bit [63]
CAMMUS DDWB 2021	2021-11 [65]	15	missing data			servomotor [66]
Fanatec CSL DD (with optional 180 W power supply)	2021-04-21 [67] [68]	8 Nm	missing data			Brushless inrunner servomotor, [69] [70] hollow ⌀ 1+1⁄4 in (32 mm) shaft with USB-C for data and power
Fanatec CSL DD (with base 90 W power supply)	2021-04-21 [67] [68]	5 Nm	missing data			Brushless inrunner servomotor, [69] hollow ⌀ 1+1⁄4 in (32 mm) shaft with USB-C for data and power
Simagic Alpha Mini	2021-06-27	13 Nm [71]	10 Nm [71]		256k ppr, 40Khz response rate	3-phase servomotor optimized for sim racing use, [72] outrunner
Moza R21	2021-06-23	21 Nm	missing data		18-bits (256k ppr) [73]	Servomotor, slanted-pole design [74]
Moza R16	2021-06-23	16 Nm	missing data		18-bits (256k ppr) [73]	Servomotor, slanted-pole design [74]
IMMSource (IMMS) ET5	2022-02-12 [75] [76]	17 Nm (8 Nm in low torque mode)	missing data		18-bit encoder (262 144 steps)	Servomotor
IMMSource (IMMS) ET3	2022-02-12 [75] [76]	10 Nm	missing data		18-bit encoder (262 144 steps)	Servomotor
Moza R12	2023-06-26 [77]	12 Nm	12 Nm		15-bit (32k ppr) [73]	16-pole Servomotor, [78] slanted-pole design [74]
Moza R9	2022-03-10 [79] [80]	9 Nm	missing data		15-bit (32k ppr) [73]	Outrunner servomotor
Moza R5	2022-08-30 [81]	5.5 Nm	missing data		15-bit (32k ppr) [73]	Outrunner servomotor
Moza R3 for Xbox	2024-07-04 [82]	3.9 Nm	3.9 Nm		15-bit encoder	Servomotor
Logitech G PRO Racing Wheel	2022-09-21 [83]	11 Nm	Missing data			Outrunner servomotor
Asetek Invicta	2022-11-10 [84]	27 Nm	~18 Nm [85]	9.4 [86]	22-bit absolute (4.2M steps)	MiGE servomotor [87]
Asetek Forte	2022-11-10 [84]	18 Nm	missing data	6.7	22-bit (4.2M steps)	MiGE servomotor
Asetek La Prima	2022-11-10 [84]	12 Nm	missing data	4.0	22-bit (4.2M steps)	MiGE servomotor
Thrustmaster T818	2022-11-17 [88]	missing data	10 Nm [89]
CAMMUS C5	2023-06-09 [90]	5 Nm	7 Nm [91]			Servomotor
CAMMUS C12	2024-02 [92]	12 Nm				Servomotor
VNM Direct Drive Xtreme	2024-03 [93]	32			23-bit (8M CPR), [26] absolute	5-pole servomotor
Thrustmaster T598	2024-10-19		5			Direct Axial Drive
VRS DFP15	2024-12	15 Nm			21-bit (2.1M steps), 10 kHz response rate [94]	5-Pole Servomotor
VNM Direct Drive Supreme	2025-01-18 [95]	25			23-bit (8M CPR), absolute [95]	5-pole servomotor
VNM Direct Drive Elite	2025-01-18 [95]	18			23-bit (8M CPR), absolute [95]	5-pole servomotor
VNM Direct Drive Premier	2025-01-18 [95]	13			23-bit (8M CPR), absolute [95]	5-pole servomotor
Model	Introduced	Stall torque	Maximum continuous torque	Slew rate (Nm/ms)	Resolution	Motor

Mount options and quick release

Model	Introduced	Wheel bolt circle	Wheel quick release	Front base mount	Other base mounts	Other notes
LeoBodnar Sim Steering	2013 [7] [96]	6×70 mm	Not included	4×140 mm bolt circle (M8) (□ 99 mm × 99 mm)	No	3000 r/min [30]
LeoBodnar Sim Steering 2 (standard 52 version)	2015 [7] [30] [34]	6×70 mm	Not included	4×140 mm bolt circle (M8) (□ 99 mm × 99 mm)	No	3000 r/min, [30] rated speed 5600 r/min, [97] rotor inertia 4.58 kg-cm2 [97]
LeoBodnar Sim Steering 2 (53 version)	2015 [7] [30] [34]	6×70 mm	Not included	4×140 mm bolt circle (M8) (□ 99 mm × 99 mm)	No	Rated speed 5100 r/min, rotor inertia 6.64 kg-cm2 [97]
"OSW" DIY kit, Lenze	2015 [37]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	1500 r/min, rotor inertia: 7.3 kg cm2 [38]
"OSW" DIY kit, M15	2015 [37]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	1500 r/min, rotor inertia: 27.7 kg cm2 [38]
"OSW" DIY kit, M10	2015 [37]	6×70 mm	Q1R (optional)	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	1000 r/min, rotor inertia: 19.4 kg cm2 [38]
"OSW" DIY kit, Hobbystar	2015 [37]	6×70 mm	Q1R (optional)	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	1000 r/min, rotor inertia: 19.4 kg cm2 [38]
Reimer Motorsports OpenSimwheel Premium [39]	2015[ citation needed ]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	Granite Devices Argon electronics [39]
Reimer Motorsports OpenSimwheel Premium AKM52 [14]	2015[ citation needed ]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	Granite Devices Argon electronics [14]
SimXperience AccuForce V1	2015 [40]	6×70 mm	D1 spec	No	Under, rectangle: ▭ 79.4 mm × 135 mm (M5)
Frex SimWheel DD	2016 [98]	3×50.8 mm	Frex quick release	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	Mini USB
Sim-pli.city SW20	2017 [42]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	Controller: Granite Devices IONI Pro and SimuCUBE; [43] 1000 r/min; rotor inertia 19.4 kg cm2 [38]
SimXperience AccuForce V2	2017	6×70 mm	D1 spec	No	Under, rectangle: ▭ 39.4 mm × 135 mm
Simucube-based pre-assembled OSW kit (large MiGE)	(before 2018)	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	IONI Pro HC (25A) [44] controller, SimuCUBE motherboard; 1500 r/min (MiGE M15); 27.7 kg cm2 (M15) [38]
Simucube-based pre-assembled OSW kit (small MiGE)	(before 2018)	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	IONI Pro (18A) [44] controller, SimuCUBE motherboard; 1000 r/min (MiGE M10); rotor inertia: 19.4 kg cm2 (M10) [38]
Simucube-based pre-assembled OSW kit Biss-C (2018 version), M15	2018 [45]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	Biss-C encoder; [45] 1500 r/min, 27.7 kg cm2 rotor inertia [38]
Simucube-based pre-assembled OSW kit Biss-C (2018 version), M10	2018 [45]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	Biss-C encoder; [45] 1000 r/min, 19.4 kg cm2 rotor inertia [38]
simracingbay "OSW" DIY kit	2018 [46]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	SinCos encoder; [46] driver board: Granite Devices IONI servo drive, IoniProHC 25A; [46] [47] 1000 r/min, 19.4 kg cm2 rotor inertia [38]
Augury Simulations SimuCube OSW Kit	2018	6×70 mm	Quick release directly on axle (option) [99]	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No
Sim-pli.city SW7C	2018 [35]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No
Sim-pli.city SW20 V3 [100]	2019	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	1000 r/min, 19.4 kg cm2 rotor inertia [38]
Simucube 2 Pro	2019 [1]	6×70 mm	Simucube SQR hub	4×145 mm bolt circle (□ 102.5 mm × 102.5 mm) (M8)	No
Simucube 2 Sport	2019	6×70 mm	Simucube SQR hub	4×145 mm bolt circle (□ 102.5 mm × 102.5 mm) (M8)	No
Fanatec Podium DD2	2019 [54]	Requires adapter	Fanatec QR1 quick release	No	Under, triangle: ▽ 78.4 mm (b), 66 mm (h) (M6) Side: ◦ Two screw holes on each side (M8)	12-bit MHL200 rotaty position hall encoder [101] (Hall-position-sensor)
Fanatec Podium DD1	2019 [54]	Requires adapter	Fanatec QR1 quick release	No	Under, triangle: ▽ 78.4 mm (b), 66 mm (h) (M6) Side: ◦ Two screw holes on each side (M8)	12-bit MHL200 rotaty position hall encoder [101] (Hall-position-sensor)
Fanatec Clubsport DD	2023		Fanatec QR2 quick release
Fanatec Clubsport DD+	2023		Fanatec QR2 quick release
Simagic Dynamic M10	2020-01 [59] [60]	6×70 mm	D1 spec	No	Side, rectangle: ▭ Via slots for T-nuts (M6)	LME2500FE encoder [102]
Sim-pli.city SW8C+	2020[ citation needed ]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No
VRS DirectForce Pro	2020 [1]	6×70 mm	Not included	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No	1000 r/min; rotor inertia 19.4 kg cm2 [38]
Simagic Alpha	2020-12-05	6×70 mm	D1 spec	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No
Fanatec CSL DD (with optional 180 W power supply)	2021-04-21 [67] [68]	Requires adapter	Fanatec QR1 quick release	No	Under: ▭ 3 T-slots, 40 mm and 80 mm c-c (M6) Side: ▭ 2 T-slots, 70 mm c-c (M6)	Flux Barrier Rotor, hall-position-sensor
Fanatec CSL DD (with base 90 W power supply)	2021-04-21 [67] [68]	Requires adapter	Fanatec QR1 quick release	No	Under: ▭ 3 T-slots, 40 mm and 80 mm c-c (M6) Side: ▭ 2 T-slots, 70 mm c-c (M6)	Flux Barrier Rotor, hall-position-sensor
Simagic Alpha Mini	2021-06-27	6×70 mm	D1 spec	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	Side, two holes: ─ (50 mm) Under, rectangle: ▯ 67 mm × 80 mm
Moza R21	2021-06-23	6×70 mm	D1 spec	No	Under, rectangle: ▯ 78.5 mm × 66 mm (M6)	480 W, 262 144 ppr resolution, 1000 Hz USB, wireless wheel
Moza R16	2021-06-23	6×70 mm	D1 spec	No	Under, rectangle: ▯ 78.5 mm × 66 mm (M6)	360 W, 262 144 ppr resolution, 1000 Hz USB, wireless wheel
IMMSource (IMMS) ET5	2022-02-12 [75] [76]	6×70 mm	D1 spec	4×130 mm bolt circle (M8) (□ 92 mm × 92 mm)	No
IMMSource (IMMS) ET3	2022-02-12 [75] [76]	6×70 mm	D1 spec	4×130 mm bolt circle (□ 92 × 92 mm) (M8)	No	Wireless wheel, with USB-C as an alternative
Moza R12	2023-06-26 [103]	6×70 mm	D1 spec	4×70 mm bolt circle (M6)	Under, rectangle: ▯ 78.5 mm × 66 mm (M6)	216 W, 1000 Hz USB, wireless wheel
Moza R9	2022-03-10 [104] [105]	6×70 mm	D1 spec	No	Under, rectangle: ▯ 78.5 mm × 66 mm (M6) [106]	180 W power supply, wireless wheel
Moza R5	2022-08-30 [107]	6×70 mm	D1 spec	No	Under, rectangle: ▯ 78.4 mm × 40 mm (M6) [106]	Wireless wheel, with USB-C as an alternative
Moza R3 for Xbox	2024-07-04 [108]	6×70 mm	D1 spec	4×60 mm bolt circle (M6)	Under, rectangle: ▯ 78.5 mm × 66 mm (M6)	72 W, 1000 Hz USB, wireless wheel
Logitech G PRO Racing Wheel	2022-09-21 [109]	6×44.5 mm (1.75")	Logitech quick release	No	Table clamp	Separate models with support for either Xbox or PlayStation. The paddles can be used for gear shifting or for throttle/braking. Separate paddles for dual clutch operation.
Asetek Invicta	2022-11-10 [84]	missing data	Asetek quick release (with USB and power)	Front: Proprietary (M5)	Under: ▭ 2 T-slots, 87 mm c-c (M6)	Power and USB to the steering wheel through the quick release, via a hollow drive shaft and a slip ring. Integrated measurement of the motors torque output. Initial models only for PC via USB-C. USB-C hub with 5 ports for extra peripherals (pedals, levers, etc.). Integrated control electronics. External power supply via Molex connector.
Asetek Forte	2022-11-10 [84]	missing data	Asetek quick release (with USB and power)	Front: Proprietary (M5)	Under: ▭ 2 T-slots, 87 mm c-c (M6)	Power and USB to the steering wheel through the quick release, via a hollow drive shaft and a slip ring. Integrated measurement of the motors torque output. Initial models only for PC via USB-C. USB-C hub with 5 ports for extra peripherals (pedals, levers, etc.). Integrated control electronics. External power supply via Molex connector.
Asetek La Prima	2022-11-10 [84]	missing data	Asetek quick release (with USB and power)	Front: Proprietary (M5)	Under: ▭ 2 T-slots, 87 mm c-c (M6)	Asetek's entry-level model. Power and USB to the steering wheel through the quick release, via a hollow drive shaft and a slip ring. Integrated measurement of the motors torque output. Initial models only for PC via USB-C. Only one USB-C connection directly to PC. Integrated control electronics. External power supply via Molex connector.
Thrustmaster T818	2022-11-17 [110]	No	New proprietary Thrustmaster quick release	No	Under: ▭ 4 scrw holes, spaced 79 mm c-c lengthwise, 63 mm c-c widthwise (M6)	168 W power supply, RJ-45 and USB-C interface in the base, proprietary 3-pin contact for electric signals via wheel connector.
CAMMUS C5	2023-06-09 [111]	No	No	No		First direct drive wheel top integrate motor and wheel integrated together
CAMMUS C12	2024-02 [112]	6×70 mm	No			Uses C5 Technology
Model	Introduced	Wheel bolt circle	Wheel quick release	Front base mount	Other base mounts	Other notes

Legend:

•   Industry standard or de facto standard
•   Proprietary
•   Missing

See also

• Sim racing wheel § Comparison of racing wheels, for a comparison of other types of racing wheels
• Full motion racing simulator
• Linkage (mechanical)
• Motion simulator
• Power steering
• Sawtooth wave
• Servo drive
• Servomechanism
• Virtual reality headset

Notes

1. Fanatec argues that outrunner motors "increase the moment arm of the motor" and "give more space for higher quality magnets" ^[57]

References

1. Jack MacKenzie Buying Guide: 7 of The Best Direct Drive Wheels in 2021, at coachdaveacademy.com, 2021
2. Richard Baxter Direct drive wheels for sim racing: everything you need to know, at simracingcockpit.com, November 17, 2020
3. Asada, H., & Kanade, T. (1983) Design of direct-drive mechanical arms in Journal of Vibration, Acoustics, Stress, and Reliability in Design, Volume 105, Issue 3, pp.312-316
4. Direct Drive vs Belt Drive vs Gear Drive, SimXperience News at simxperience.com (archived on July 5th, 2021)
5. Open FFBoard |Hackaday.io
6. "What is a Strong Magnet?". The Magnetic Matters Blog. Adams Magnetic Products. October 5, 2012. Retrieved October 12, 2012.
7. Leo Bodnar SimSteering2 Read-View at mockracer.com, December 19, 2015
8. Pastorino, R., Desloovere, M., Vanneste, F., Degezelle, P., Desmet, W., & Optidrive, N. V. (2015) Development, implementation and validation of a hard real-time multibody simulation for high-fidelity steering wheel force feedback , in Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Spain (Vol. 10).
9. Installing MMos firmware into SimuCUBE - Granite Devices Knowledge Wiki
10. Barnaby, G., & Roudaut, A. (2019) Mantis: A scalable, lightweight and accessible architecture to build multiform force feedback systems , in Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (pp. 937-948).
11. Expectations vs. Reality – How To Build A Direct Drive Racing Wheel?, Alberto from boxthislap.org, July 24, 2021
12. Gonzalo Bodnar V2 impressions, at boxthislap.org, October 20, 2016
13. Jimmy Broadbent Is A Direct Drive Wheel Worth The Money?, Aug 1, 2018
14. OpenSimwheel Premium AKM52 at reimer-motorsports.com, archived on 16.12.2015
15. https://granitedevices.com/simucube-2-and-simucu-be-launched/
16. https://simracingcockpit.gg/direct-drive-wheels/
17. How to build a Direct Drive steering wheel - OSW Simucube, by MODIFY UP, Sep 20, 2020
18. https://www.sameskydevices.com/blog/what-is-encoder-ppr-cpr-and-lpr
19. https://www.rls.si/eng/faq/index/show/cat_id/2/faq/59/
20. https://eltra-encoder.eu/news/encoder-resolution
21. https://eltra-encoder.eu/news/encoder-ppr-and-cpr
22. Mirko De Santis Simagic Alpha Mini review "the end of the straps!", Aug 25, 2021
23. Mirko De Santis I "filtri" nel simracing pro e contro , Oct 3, 2020
24. Simucube_2_User_Guide
25. , 6 June 2024
26. 1 2 VNM Etreme 32nm born to challenge Simucube 2 Ultimate!, Mirko De Santis, Sep 12, 2024
27. Mirko De Santis Riprovo Simucube 1 OSW è ancora un prodotto valido nel Simracing?, Aug 4, 2020
28. "SFI Foundation - SFI 42.1 Steering Wheel Quick Disconnect/Release - Participating Manufacturers – updated April 21, 2022" (PDF).
29. SimSteering Wheel by Leo Bodnar – Released Archived 2022-01-18 at the Wayback Machine , at virtualr.net, June 5, 2013
30. Sim Steering FFB System Version 2, review by SimRacingGarage, Feb 13, 2016
31. Leo Bodnar SimSteering review video by Sim Racing Garage, at bsimracing.com, 25/03/2014
32. "Looking to build an OSW setup with Simucube and Kollmorgen AKM motor, could use some help. - Custom / High End Wheels - InsideSimRacing Forums". isrtv.com. December 2016. Retrieved September 3, 2021.
33. Leo Bodnar SimSteering Review Part 1 (at 1min 30s), review by SimRacingGarage, Mar 24, 2014
34. SS2 reviews, by Gonzalo at boxthislap.org, January 23, 2016
35. Sim Racing Wheel Buyers' Guide 2018 at simracingpaddock.com, March 14, 2018
36. SimSteering V2 Force Feedback System (53) Kit, ay ricmotech.com
37. Sim Racing Garage – Direct Drive Open Sim Wheel Review, at bsimracing.com, 08/09/2015
38. Open Sim Wheel at OpenSimWheel Wiki
39. OpenSimwheel Premium at reimer-motorsports.com, archived on 21 Jul 2015
40. AccuForce Review, at mockracer.com, January 16, 2015
41. Frex Simwheel DD (Direct Drive), at simrace-blog.com, 23 Jan 2016
42. William Marsh GamerMuscle Reviews SimPliCity SW20 DD Wheel, at simracingpaddock, June 13, 2017
43. SW20 (20Nm Direct Drive Wheel) - (Discontinued), Sim-pli.city official product page
44. "Pre-assembled Direct Drive Wheel Kit (MiGE/SimuCUBE) (Discontinued) – Sim-plicity". sim-pli.city. Retrieved September 3, 2021.
45. Sim Cube 30nm Direct Drive Wheel Base Review By The Simpit, at bsimracing.com, 29.6.2018
46. Sim Racing Bay OSW Wheel Kit Review, at Sim Racing Garage, Apr 17, 2018
47. SimuCUBE based OSW kit Biss-C – with CM110 case Archived 2022-01-17 at the Wayback Machine at simracingbay
48. High-end wheel guide at simracer.es
49. Richard Baxter Test drive: SimPlicity SW20 V3 DD , at simracingcockpit.com, September 9, 2020
50. "All – Tagged "MiGE" – Sim-plicity". sim-pli.city. Retrieved September 3, 2021.
51. Simucube 2 Sport Official product page
52. Simulator Racing Wheels, at rightstuffracing.com
53. The 5 Best Direct Drive Wheel Bases By FLOW RACERS
54. Podium series will arrive finally 30th April, by Gonzalo at boxthislap.org, March 13, 2019
55. What is going on with the encoder resolution of DD wheelbases? at forum.fanatec.com
56. Marcel Pfister Fanatec Beta Driver V352/356 [DD Performance Update] for Podium Bases ONLY (all steering wheels), Dec 2019
57. Podium Direct Drive Motor Dynamics | FANATEC, Apr 29, 2019
58. Fanatec Clubsport DD (DD+) Full Review - A Great Mid/High-Range Direct Drive Option by ECGadget
59. Laurence Dusoswa Simagic Alpha Review | 15nm Direct Drive Steering Wheel | LONG TERM review | World Exclusive, December 2020
60. Laurence Dusoswa Simagic Dynamic M10 Unboxing | Chinese technology has arrived in Sim Racing, Dec 31, 2019
61. William Marsh Sim Racing Wheel Buyer's Guide – 2020 Edition at simracingpaddock.com, March 20, 2020[
62. VRS DirectForce Pro DD Wheel System Review, Sim Racing Garage, May 25, 2020
63. https://gperformance.eu/simucube-direct-drive-wheels-everything-you-need-to-know/
64. https://www.reddit.com/r/simracing/comments/qakygg/simagic_23nm_alpha_u/
65. The Direct-Drive Wheel Nobody is Talking About | Cammus DD Review, ocsimracing
66. CAMMUS 15Nm Direct Drive Wheel Base – First Impressions, Laurence Dusoswa at bsimracing, 11/04/2022
67. Fanatec's CSL DD is a cost-effective direct drive wheel base | Traxion
68. Fanatec Reveals New CSL DD: Entry Level, $350 Direct Drive Wheel Base – GTPlanet
69. REVIEW - Fanatec CSL DD, boostedmedia
70. Hands On with the Fanatec CSL DD - Detailed First Look & Driving Tests, boostedmedia
71. Dan Suzuzi Simagic Alpha Mini review
72. "Simagic Alpha Mini".
73. Moza [Which Wheel base is right for you?]
74. MOZA’s Innovations in Direct Drive and Vehicle Suspension Technology, February 2, 2024
75. IMMSOURCE : Et vlan ! Encore du nouveau Direct-Drive - Simrace-Blog
76. Immsource, new Chinese Direct Drive - BoxThisLap.org
77. MOZA R12 Review: The best mid-range DD base around
78. R12 Receives NexGen 3.0 FFB Firmware Update and New Pricing, August 15, 2024
79. MOZA Racing Launched 2 New Products | MOZA Sim Racing
80. MOZA Racing launches GS Steering Wheel R9 Direct Drive Base | Traxion
81. Moza's New Budget Direct Drive Bundle - R5 Bundle First Look
82. Moza R3 Racing Wheel and Pedals for Xbox Review
83. "Logitech G Launches Professional-Grade PRO Racing Wheel and Pedals". ir.logitech.com. Retrieved 23 September 2022.
84. "Introducing Direct Drive Wheelbases". Asetek SimSports. 10 November 2022. Retrieved 1 November 2022.
85. "Review of Asetek Simsports Invicta/Forte Direct Drive Sim Racing Wheel Review by Boosted Media - YouTube". YouTube . 16 February 2023.
86. "Torque Slew Rate for Sim Racing (Plus Q&A with Asetek) - FLOW RACERS". 13 July 2023.
87. Asetek Announces Exclusive Supply Agreement with Motor Manufacturer HangZhou MiGE, 15 Feb, 2022
88. Mjolnir (2022-11-17). "Thrustmaster T818 Launch - Brand New Direct Drive Racing Wheel". Sim Racing Setups. Retrieved 2023-03-06.
89. "Thrustmaster T818 Review: A shaky debut to direct drive". racinggames.gg. Retrieved 2023-03-06.
91. (Rumored and measured by reviewers)
92. https://boxthislap.org/cammus-c12-the-evolution-of-c5-now-available/
93. VNM direct drive wheelbase simracing review, Alan Quan, Mar 25, 2024
94. https://vrs.racing/product/dfp15-r295-bundle
95. VNM Direct Drive Series Introduction, VNM Simulation at Youtube, January 18th, 2025
96. SimSteering Wheel by Leo Bodnar – Released Archived 2022-01-18 at the Wayback Machine , at virtualr.net, June 5, 2013
97. AKM2G Servo Motor - Specifications, accessed September 3, 2021
98. Frex Simwheel DD (Direct Drive), at simrace-blog.com, 23 Jan 2016
99. "Augury Simulations18Nm SimuCube OSW Kit Review" (in Norwegian Bokmål). Retrieved 2022-09-02.
100. Richard Baxter Test drive: SimPlicity SW20 V3 DD , at simracingcockpit.com, September 9, 2020
101. FANATEC DD1/DD2 TEARDOWN - How a Fanatec Direct Drive Wheel Base Works (at 41min 47s), BoostedMedia, Feb 2, 2021
102. Simagic M10 GT1 DD FFB Wheel Kit Review, Sim Racing Garage, Oct 31, 2020
103. MOZA R12 Review: The best mid-range DD base around
104. MOZA Racing Launched 2 New Products | MOZA Sim Racing
105. MOZA Racing launches GS Steering Wheel R9 Direct Drive Base | Traxion
106. MOZA R5 - The New Cheapest Direct Drive Sim Racing Wheel
107. Moza's New Budget Direct Drive Bundle - R5 Bundle First Look
108. Moza R3 Racing Wheel and Pedals for Xbox Review
109. "Logitech G Launches Professional-Grade PRO Racing Wheel and Pedals". ir.logitech.com. Retrieved 23 September 2022.
110. Mjolnir (2022-11-17). "Thrustmaster T818 Launch - Brand New Direct Drive Racing Wheel". Sim Racing Setups. Retrieved 2023-03-06.
112. https://boxthislap.org/cammus-c12-the-evolution-of-c5-now-available/

Further reading

• Berber-Solano, T. P., Giacomin, J. A., & Ajovalasit, M. (2013) Effect of steering wheel acceleration frequency distribution on detection of road type , in Ingeniería mecánica, tecnología y desarrollo, 4(4), 145-151.
• Walmsley, A., & Williams, L. R. T. (1991) The perception of torque pulses , in Perceptual and motor skills, 72(3_suppl), 1223-1227.
• Yang, S., Tan, H. Z., Buttolo, P., & Johnston, M. (2004) Detection of torque vibrations transmitted through a passively-held rotary switch , in Proceedings of EuroHaptics 2004, 217-222.

External links

• High end wheel comparison, by Gonzalo at boxthislap.org, December 11, 2017
• SinCos impressions, by Gonzalo at boxthislap.org, December 7, 2017
• Granite devices and OSW future, by Gonzalo at boxthislap.org, November 5, 2015
• Sim Racing Garage Direct Drive FFB Wheel System Comparison , June 1, 2015
• MMOS Direct drive wheel in 2020, at racedepartment.com, September 3, 2020