Abstract: A control system for controlling movements of an end effector connected to a clutch output of at least two magnetorheological (MR) fluid clutch apparatus, the control system comprises a clutch driver configured to drive the at least two MR fluid clutch apparatuses between at least a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatuses varies, and a combined mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold simultaneously for both of the MR fluid clutch apparatuses, the two clutch outputs resisting movement of the end effector in the same direction. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to at least one clutch input.

Abstract: A system for assisting a user in moving a device relative to a structure comprises a magnetorheological (MR) fluid actuator unit including at least one torque source and at least one MR fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of assistance force via an output thereof. An interface is configured for coupling the output of the at least one MR fluid clutch apparatus to the device or surrounding structure. At least one sensor provides information about a movement of the device.

Abstract: A system for assisting a user in moving a device relative to a structure comprises a magnetorheological (MR) fluid actuator unit including at least one torque source and at least one MR fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of assistance force via an output thereof. An interface is configured for coupling the output of the at least one MR fluid clutch apparatus to the device or surrounding structure. At least one sensor provides information about a movement of the device.

Abstract: An active suspension system comprises at least one biasing device configured to support a body from a structure, and at least one motor. A magnetorheological (MR) fluid clutch apparatus(es) is coupled to the at least one motor to receive torque from the motor, the MR fluid clutch apparatus controllable to transmit a variable amount of torque. A mechanism is between the at least one MR fluid clutch apparatus and the body to convert the torque received from the at least one MR fluid clutch apparatus into a force on the body. Sensor(s) provide information indicative of a state of the body or structure. A controller receives the information indicative of the state of the body or structure and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the body to control movement of the body according to a desired movement behavior.

Abstract: A control system is provided for controlling movements of an end effector connected to a clutch output of at least one magnetorheological (MR) fluid clutch apparatus. A clutch driver is configured to drive the at least one MR fluid clutch apparatus between a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatus varies, and a lock mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold, the clutch output transmitting movement to the end effector. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to the clutch input. A mode selector module is configured to receive signals representative of at least one movement parameter of the end effector, the mode selector module selecting a mode between the controlled slippage mode and the lock mode of the clutch driver based on the signals, and switching the selected mode based on the signals.

Abstract: A braking control apparatus comprises at least one torque source. At least one magnetorheological (MR) fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output thereof. A modulation interface couples the output of the at least one MR fluid clutch apparatus to a braking power transmission of a brake system. At least one sensor provides information indicative of a braking state of the load. A processing unit receives the information indicative of the braking state of the load and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the braking power transmission to assist in braking the load. A method for assisting a manually-actuated braking of a vehicle is also provided.

Abstract: An active suspension system comprises at least one biasing device configured to support a body from a structure, and at least one motor. A magnetorheological (MR) fluid clutch apparatus(es) is coupled to the at least one motor to receive torque from the motor, the MR fluid clutch apparatus controllable to transmit a variable amount of torque. A mechanism is between the at least one MR fluid clutch apparatus and the body to convert the torque received from the at least one MR fluid clutch apparatus into a force on the body. Sensor(s) provide information indicative of a state of the body or structure. A controller receives the information indicative of the state of the body or structure and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the body to control movement of the body according to a desired movement behavior.

Abstract: A system for controlling a tension of a tether between an object and a load tethered to the object comprises magnetorheological (MR) fluid actuator unit(s) including at least one torque source and at least one MR fluid clutch apparatus coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of torque via an output of the MR fluid actuator unit. A tensioning member is connected to the output so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action when being pulled by the output member. Sensor(s) provide information indicative of a relation between the object and the load tethered to the object. A controller controls the at least one MR fluid clutch apparatus in exerting the pulling action based on said information.

Abstract: A motorization apparatus for a motorized wheel comprises an axle secured to a frame of a vehicle. A rotor unit has poles of magnet material. A stator unit having slots and teeth secured to the axle is inward of said rotor to define a clearance gap therewith such that the rotor unit is rotatable about the stator core. An arrangement of coils is wound around the teeth of the stator unit, the coils adapted to be powered to induce a rotation of the rotor unit relative to the stator unit. A structure comprises hub portions rotatably mounted to the axle, the structure having lateral walls defining an inner volume for the rotor unit and the stator unit, the structure supporting the rotor unit. The structure comprises attachment members connected to spokes of the motorized wheel, located radially inward of the clearance gap between the rotor unit and the stator unit.

Abstract: An active suspension system comprises at least one biasing device configured to support a body from a structure, and at least one motor. A magnetorheological (MR) fluid clutch apparatus(es) is coupled to the at least one motor to receive torque from the motor, the MR fluid clutch apparatus controllable to transmit a variable amount of torque. A mechanism is between the at least one MR fluid clutch apparatus and the body to convert the torque received from the at least one MR fluid clutch apparatus into a force on the body. Sensor(s) provide information indicative of a state of the body or structure. A controller receives the information indicative of the state of the body or structure and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the body to control movement of the body according to a desired movement behavior.

Abstract: A tensioning set comprises an output member. A magnetorheological fluid clutch apparatus is configured to receive a degree of actuation (DOA) and connected to the output member, the magnetorheological fluid clutch apparatus being actuatable to selectively transmit the received DOA through the output member by controlled slippage. A tensioning member is connected to the output member so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action transmitted to an output when being pulled by the output member. The tensioning set, or a comparable compressing set, may be used in systems and robotic arms. A method for controlling movements of an output driven by the tensioning set or compressing set is also provided.

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 tensioning set comprises an output member. A magnetorheological fluid clutch apparatus is configured to receive a degree of actuation (DOA) and connected to the output member, the magnetorheological fluid clutch apparatus being actuatable to selectively transmit the received DOA through the output member by controlled slippage. A tensioning member is connected to the output member so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action transmitted to an output when being pulled by the output member. The tensioning set, or a comparable compressing set, may be used in systems and robotic arms. A method for controlling movements of an output driven by the tensioning set or compressing set is also provided.

Abstract: A magnetorheological fluid clutch apparatus comprises a stator having at least an annular wall; a first rotor rotatably mounted to the stator, the first rotor having at least one first shear surface; a second rotor rotatably mounted to the stator for rotating about a common axis with the first rotor, the second rotor having at least one second shear surface opposite the at least one first shear surface, the shear surfaces separated by at least one annular space. A magnetorheological (MR) fluid is in an MR fluid chamber including the at least one annular space, the MR fluid configured to generate a variable amount of torque transmission between the rotors when subjected to a magnetic field. An inner magnetic core and an outer magnetic core with an annular cavity therebetween receive the annular wall of the stator, the inner magnetic core and the outer magnetic core connected to at least one of the rotors to rotate therewith so as to be rotatably mounted to the stator.

Abstract: A system comprises magnetorheological fluid clutch apparatuses, each magnetorheological fluid clutch apparatus including a first rotor having at least one first shear surface, a second rotor rotating about a common axis with the first rotor, the second rotor having at least one second shear surface opposite the at least one first shear surface, the shear surfaces separated by at least one annular space, magnetorheological (MR) fluid in an MR fluid chamber including the at least one annular space, the MR fluid configured to generate a variable amount of torque transmission between the rotors when subjected to a magnetic field, and coil(s) actuatable to deliver a magnetic field through the MR fluid such that each said magnetorheological fluid clutch apparatus is actuatable to selectively transmit actuation by controlled slippage of the rotors with respect to one another.

Abstract: A telepresence controller is provided for interaction with a remote telepresence session to control haptic interactions between an end effector and the remote telepresence session. Force sensor(s) monitor force(s) applied to an end effector. Position sensor(s) monitor a position of the end effector. The telepresence controller communicates with the remote telepresence session to exchange position data and force data indicative of concurrent haptic movements of the end effector and an object in the remote telepresence session. Magnetorheological fluid clutch apparatus(es) have an input adapted to be connected to a power source and configured to receive a degree of actuation (DOA) therefrom, the magnetorheological fluid clutch apparatus(es) having an output being actuatable to selectively transmit the received DOA to the end effector by controlled slippage.

Abstract: A control system is provided for controlling movements of an end effector connected to a clutch output of at least one magnetorheological (MR) fluid clutch apparatus. A clutch driver is configured to drive the at least one MR fluid clutch apparatus between a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatus varies, and a lock mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold, the clutch output transmitting movement to the end effector. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to the clutch input. A mode selector module is configured to receive signals representative of at least one movement parameter of the end effector, the mode selector module selecting a mode between the controlled slippage mode and the lock mode of the clutch driver based on the signals, and switching the selected mode based on the signals.

Abstract: A motorization apparatus for a motorized wheel comprises an axle secured to a frame of a vehicle. A rotor unit has poles of magnet material. A stator unit having slots and teeth secured to the axle is inward of said rotor to define a clearance gap therewith such that the rotor unit is rotatable about the stator core. An arrangement of coils is wound around the teeth of the stator unit, the coils adapted to be powered to induce a rotation of the rotor unit relative to the stator unit. A structure comprises hub portions rotatably mounted to the axle, the structure having lateral walls defining an inner volume for the rotor unit and the stator unit, the structure supporting the rotor unit. The structure comprises attachment members connected to spokes of the motorized wheel, located radially inward of the clearance gap between the rotor unit and the stator unit.

Abstract: A system for assisting a user in moving a device relative to a structure comprises a magnetorheological (MR) fluid actuator unit including at least one torque source and at least one MR fluid clutch apparatus having an input coupled to the at least one torque source to receive torque from the at least one torque source, the MR fluid clutch apparatus controllable to transmit a variable amount of assistance force via an output thereof. An interface is configured for coupling the output of the at least one MR fluid clutch apparatus to the device or surrounding structure. At least one sensor provides information about a movement of the device.

Abstract: A motorization apparatus for a motorized wheel comprises an axle secured to a frame of a vehicle. A rotor unit has poles of magnet material. A stator unit having slots and teeth secured to the axle is inward of said rotor to define a clearance gap therewith such that the rotor unit is rotatable about the stator core. An arrangement of coils is wound around the teeth of the stator unit, the coils adapted to be powered to induce a rotation of the rotor unit relative to the stator unit. A structure comprises hub portions rotatably mounted to the axle, the structure having lateral walls defining an inner volume for the rotor unit and the stator unit, the structure supporting the rotor unit. The structure comprises attachment members connected to spokes of the motorized wheel, located radially inward of the clearance gap between the rotor unit and the stator unit.