Abstract: A magnetorheological (MR) actuator device comprising two or more MR actuator units. Each of the MR actuator units may include a motor, 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 is provided, a transmission operatively coupling the at least two MR actuator units to the output member, for the output member to receive torque from the MR actuator units. A controller for controlling the two or more MR actuator units to drive the output member, the controller driving the output member in at least an antagonistic mode in which the MR actuator units transmit torque in opposite directions to the output member. A collaborative mode may be provided to combined the torque of the two or more MR actuator units in a common direction on the output member.

Abstract: A magnetorheological fluid clutch apparatus comprises an input(s) having an input shear surface(s). An output(s) is rotatably mounted about the input for rotating about a common axis with the input, the output(s) having output shear surface(s), the input shear surface and the output shear surface separated annular space(s), with magnetorheological fluid, configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field. An electromagnet(s) delivers a magnetic field through the magnetorheological fluid, the electromagnet configured to vary the strength of the magnetic field, whereby actuation of the electromagnet results in torque transmission from the input to the output. A member(s) defining at least one of the shear surfaces is made of a low-permeability material.

Abstract: The invention relates to a device for positioning in the proximity of a joint between two portions, the device comprising a first interface (11) carried by a first of the two portions and a second interface (12) carried by a second of the two portions, the device including at least one connection between the first interface and the second interface, the connection comprising a double cylinder having two chambers that are connected together by a floating piston, the first of the two chambers being connected to the first interface and a second of the two chambers being connected to a drive rather of the double cylinder, said rod being connected to the second interface. The invention also relates to a system including such a device.

Abstract: A magnetorheological fluid clutch apparatus comprises an input(s) having an input shear surface(s). An output(s) is rotatably mounted about the input for rotating about a common axis with the input, the output(s) having output shear surface(s), the input shear surface and the output shear surface separated annular space(s). with magnetorheological fluid, configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field. An electromagnet(s) delivers a magnetic field through the magnetorheological fluid, the electromagnet configured to vary the strength of the magnetic field, whereby actuation of the electromagnet results in torque transmission from the input to the output. A member(s) defining at least one of the shear surfaces is made of a low-permeability material.

Abstract: A magnetorheological fluid clutch apparatus comprises an input rotor adapted to be coupled to a power input, the input rotor having a first set of at least one input shear surface, and a second set of at least one output shear surface. An output rotor is rotatably mounted about the input rotor for rotating about a common axis with the input rotor, the output rotor having a first set of at least one output shear surface, and a second set of at least one output shear surface, the first sets of the input rotor and the output rotor separated by at least a first annular space and forming a first transmission set, the second sets of the input rotor and the output rotor separated by at least a second annular space and forming a second transmission set. Magnetorheological fluid is in each of the annular spaces, the MR fluid configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field.

Abstract: A system comprises one or more wearable devices including a first body interface adapted to be secured to a first bodily part. A second body interface is adapted to be secured to a second bodily part separated from the first bodily part by a physiological joint. One or more joints provide one or more degrees of freedom between the first body interface and the second body interface. A magnetorheological (MR) fluid actuator unit comprises one or more power sources. An MR fluid clutch apparatus receiving torque from the at least one power source, the at least one MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field. A transmission couples the MR fluid actuator unit to the wearable device for converting torque from the MR fluid actuator unit to relative movement of the body interfaces with respect to one another.

Abstract: A magnetorheological fluid clutch apparatus comprises an input rotor adapted to be coupled to a power input, the input rotor having a first set of at least one input shear surface, and a second set of at least one output shear surface. An output rotor is rotatably mounted about the input rotor for rotating about a common axis with the input rotor, the output rotor having a first set of at least one output shear surface, and a second set of at least one output shear surface, the first sets of the input rotor and the output rotor separated by at least a first annular space and forming a first transmission set, the second sets of the input rotor and the output rotor separated by at least a second annular space and forming a second transmission set. Magnetorheological fluid is in each of the annular spaces, the MR fluid configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field.

Abstract: A magnetorheological fluid clutch apparatus comprises an input rotor adapted to be coupled to a power input, the input rotor having a first set of at least one input shear surface, and a second set of at least one output shear surface. An output rotor is rotatably mounted about the input rotor for rotating about a common axis with the input rotor, the output rotor having a first set of at least one output shear surface, and a second set of at least one output shear surface, the first sets of the input rotor and the output rotor separated by at least a first annular space and forming a first transmission set, the second sets of the input rotor and the output rotor separated by at least a second annular space and forming a second transmission set. Magnetorheological fluid is in each of the annular spaces, the MR fluid configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field.

Abstract: In some embodiments, a redundant control system includes first and second control systems, having first and second clutches, and a shared clutch system. The shared clutch system may include a shared shaft configured to receive mechanical energy from a shared power source, a first shared clutch corresponding to the first clutch and configured to receive mechanical energy from the shared shaft, and a second shared clutch corresponding to the second clutch and configured to receive mechanical energy from the shared shaft. A first linkage provides mechanical communication between an output of the first clutch, an output of the first shared clutch, and a first output device in mechanical communication with the rotor system. A second linkage provides mechanical communication between an output of the second clutch, an output of the second shared clutch, and a second output device in mechanical communication with the rotor system.

Abstract: A magnetorheological fluid clutch apparatus comprises an input rotor adapted to be coupled to a power input, the input rotor having a first set of at least one input shear surface, and a second set of at least one output shear surface. An output rotor is rotatably mounted about the input rotor for rotating about a common axis with the input rotor, the output rotor having a first set of at least one output shear surface, and a second set of at least one output shear surface, the first sets of the input rotor and the output rotor separated by at least a first annular space and forming a first transmission set, the second sets of the input rotor and the output rotor separated by at least a second annular space and forming a second transmission set. Magnetorheological fluid is in each of the annular spaces, the MR fluid configured to generate a variable amount of torque transmission between the sets of input rotor and output rotor when subjected to a magnetic field.

Abstract: In some embodiments, a redundant control system includes first and second control systems, having first and second clutches, and a shared clutch system. The shared clutch system may include a shared shaft configured to receive mechanical energy from a shared power source, a first shared clutch corresponding to the first clutch and configured to receive mechanical energy from the shared shaft, and a second shared clutch corresponding to the second clutch and configured to receive mechanical energy from the shared shaft. A first linkage provides mechanical communication between an output of the first clutch, an output of the first shared clutch, and a first output device in mechanical communication with the rotor system. A second linkage provides mechanical communication between an output of the second clutch, an output of the second shared clutch, and a second output device in mechanical communication with the rotor system.

Abstract: There is disclosed a device for orienting an object according to a given spatial orientation. The device comprises a frame and a supporting member connected to the frame and adapted for supporting at least a portion of the object. The device for orienting an object comprises a plurality of fluid actuated devices for displacing the supporting member with respect to the frame. Each of the fluid actuated devices is actuatable between a first position wherein the device has a first length and a second position wherein the device has a second length. The device for orienting comprises an actuation mechanism comprising a plurality of actuating valves for actuating the corresponding fluid actuated device; wherein an actuation of at least one of the fluid actuated devices enables to displace the supporting member with respect to the frame, thereby orienting the object according to the given spatial orientation.

Abstract: There is disclosed an integrated device for orienting an object according to a given spatial orientation comprising a frame and a supporting member connected thereto and adapted for supporting a portion of the object. The integrated device comprises a plurality of fluid actuated devices integrally molded and joined together through a joining portion to form an integral unit for displacing the supporting member with respect to the frame. Each fluid actuated device is actuatable between a first position wherein the device has a first length and a second position wherein the device has a second length. The integrated device comprises an actuation mechanism for actuating each fluid actuated device between the first position and the second position to enable displacing the supporting member with respect to the frame, thereby orienting the object according to the given spatial orientation.

Abstract: There is disclosed a device for orienting an object according to a given spatial orientation. The device comprises a frame and a supporting member connected to the frame and adapted for supporting at least a portion of the object. The device for orienting an object comprises a plurality of fluid actuated devices for displacing the supporting member with respect to the frame. Each of the fluid actuated devices is actuatable between a first position wherein the device has a first length and a second position wherein the device has a second length. The device for orienting comprises an actuation mechanism comprising a plurality of actuating valves for actuating the corresponding fluid actuated device; wherein an actuation of at least one of the fluid actuated devices enables to displace the supporting member with respect to the frame, thereby orienting the object according to the given spatial orientation.