US 12,234,900 B2
Low-impedance actuation device using magnetorheological fluid clutch apparatuses
Jean-Sebastien Plante, Sherbrooke (CA); Jean-Philippe Lucking Bigue, Sherbrooke (CA); Catherine Veronneau, Waterville (CA); and Pascal Larose, Sherbrooke (CA)
Assigned to EXONETIK INC., Sherbrooke (CA)
Appl. No. 17/795,736
Filed by EXONETIK INC., Sherbrooke (CA)
PCT Filed Feb. 8, 2021, PCT No. PCT/CA2021/050137
§ 371(c)(1), (2) Date Jul. 27, 2022,
PCT Pub. No. WO2021/155478, PCT Pub. Date Aug. 12, 2021.
Claims priority of provisional application 62/970,736, filed on Feb. 6, 2020.
Prior Publication US 2023/0098877 A1, Mar. 30, 2023
Int. Cl. F16H 47/00 (2006.01); B25J 9/10 (2006.01); F16D 37/02 (2006.01); B25J 19/00 (2006.01)
CPC F16H 47/00 (2013.01) [B25J 9/102 (2013.01); F16D 37/02 (2013.01); B25J 19/0004 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A magnetorheological (MR) actuator device comprising:
at least two MR actuator units, each of the MR actuator units including at least:
a motor being bi-directional, and
an MR fluid clutch apparatus operatively coupled to the motor to receive torque from the motor, the MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field;
an output member;
a transmission operatively coupling the at least two MR actuator units to the output member, for the output member to receive torque from the at least two MR actuator units, the transmission having at least one reduction mechanism between the MR fluid clutch apparatus and the output member for at least one of the at least two MR actuator units; and
a controller for controlling the at least two MR actuator units to drive the output member, the controller configured for driving the output member in at least an antagonistic mode in which the at least two MR actuator units transmit torque in opposite directions to the output member, and configured for driving the output member in a collaborative mode in which the at least two MR actuator units transmit torque in a common direction to the output member.