公开(公告)号：US20190128340A1

公开(公告)日：2019-05-02

申请号：US16095528

申请日：2017-04-25

Applicant: EXONETIK INC.

Inventor： Marc DENNINGER ,  Guifre JULIO ,  Jean-Sebastien PLANTE ,  Pascal Larose

IPC: F16D37/00 ,  B25J9/14 ,  B25J9/12 ,  B25J9/10 ,  B25J19/06 ,  B25J13/08 ,  F16D48/06 ,  F16D27/10

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. A movement controller controls the clutch driver and the motor driver to displace the end effector based on at least one of the selected mode and on commanded movements of the end effector for the end effector to achieve the commanded movements. A method for controlling movements of an end effector connected to the MR fluid clutch apparatus is also provided.

公开(公告)号：US20200069441A1

公开(公告)日：2020-03-05

申请号：US16610337

申请日：2018-05-14

Applicant: EXONETIK INC.

Inventor： Pascal LAROSE ,  Marc DENNINGER ,  Jean-Sebastien PLANTE ,  Jean-Philippe LUCKING BIGUE ,  Catherine VERONNEAU

IPC: A61F2/70 ,  A61F5/01 ,  B25J9/00 ,  F16D37/02

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.

公开(公告)号：US20190257372A1

公开(公告)日：2019-08-22

申请号：US16340556

申请日：2017-10-13

Applicant: EXONETIK INC.

Inventor： Jean-Sebastien PLANTE ,  Pascal Larose ,  Marc DENNINGER ,  Guifre JULIO

IPC: F16D25/12 ,  F16D37/00 ,  F16D27/14

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. The MR fluid chambers of the second magnetorheological fluid clutch apparatuses are in fluid communication for the MR fluid to circulate between the magnetorheological fluid clutch apparatuses.

公开(公告)号：US20190193278A1

公开(公告)日：2019-06-27

申请号：US16329395

申请日：2017-09-01

Applicant: EXONETIK INC.

Inventor： Pascal Larose ,  Jean-Sebastien PLANTE ,  Marc DENNINGER ,  Guifre JULIO

IPC: B25J13/02 ,  B25J13/08 ,  B25J9/16

CPC classification number: B25J13/025 ,  B25J9/1689 ,  B25J13/085 ,  B25J13/088 ,  F16D37/02 ,  G05B2219/40195

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. A force controller module determines a force input required on the end effector as a function of haptic events for the object in the remote telepresence session. A clutch driver module drives the magnetorheological fluid clutch apparatus with the controlled slippage being as a function of the force input.

公开(公告)号：US20180306253A1

公开(公告)日：2018-10-25

申请号：US15576777

申请日：2016-05-26

Applicant: EXONETIK INC.

Inventor： Jean-Sebastien PLANTE ,  Marc DENNINGER ,  Guifre JULIO ,  Patrick CHOUINARD ,  Pascal LAROSE ,  Caroline FRASER

IPC: F16D48/06 ,  F16D37/02 ,  B60N2/50 ,  B60G17/015 ,  F16D37/00 ,  B60G21/055

CPC classification number: F16D48/064 ,  A61G1/042 ,  B60G17/0157 ,  B60G17/016 ,  B60G21/0555 ,  B60G2202/413 ,  B60G2202/43 ,  B60G2202/44 ,  B60N2/0232 ,  B60N2/162 ,  B60N2/501 ,  B60N2/502 ,  B62D5/0478 ,  F16D37/00 ,  F16D37/02 ,  F16D47/06 ,  F16D2037/001 ,  F16D2500/10475 ,  F16D2500/1107 ,  F16D2500/31 ,  F16H25/2204

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.

公开(公告)号：US20180216682A1

公开(公告)日：2018-08-02

申请号：US15748304

申请日：2016-07-28

Applicant: EXONETIK INC.

Inventor： Pascal LAROSE ,  Marc DENNINGER ,  Guifre JULIO ,  Jean-Sebastien PLANTE

IPC: F16D57/00 ,  F16D67/04

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.

公开(公告)号：US20180072189A1

公开(公告)日：2018-03-15

申请号：US15714452

申请日：2017-09-25

Applicant: EXONETIK INC.

Inventor： Jean-Sebastien PLANTE ,  Marc DENNINGER ,  Guifre JULIO ,  Patrick CHOUINARD ,  Pascal LAROSE ,  Caroline FRASER

IPC: B60N2/02 ,  B60G17/015 ,  B60G17/016 ,  B60N2/16 ,  A61G1/04

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.