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    Magnetorheological fluid clutch apparatus with low permeability drums
    13.
    发明授权
    Magnetorheological fluid clutch apparatus with low permeability drums 有权

    公开(公告)号：US11499594B2

    公开(公告)日：2022-11-15

    申请号：US17284601

    申请日：2019-10-11

    Applicant: EXONETIK INC.

    Inventor： Jean-Sebastien Plante ,  Jérôme Marchand ,  Pascal Larose ,  Patrick Chouinard ,  Marc Denninger ,  Jean-Philippe Lucking Bigue

    IPC: F16D37/02 ,  F16D37/00

    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.

    Multimode control system for magnetorheological fluid actuator unit
    15.
    发明授权
    Multimode control system for magnetorheological fluid actuator unit 有权

    公开(公告)号：US10746235B2

    公开(公告)日：2020-08-18

    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 ,  B25J9/10 ,  B25J9/12 ,  B25J13/08 ,  F16D27/10 ,  F16D48/06 ,  F16D37/02 ,  B25J9/16 ,  F16D7/02 ,  B25J19/00 ,  B25J19/06 ,  B25J9/14

    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.

    Low-impedance actuation device using magnetorheological fluid clutch apparatuses
    17.
    发明授权
    Low-impedance actuation device using magnetorheological fluid clutch apparatuses 有权

    公开(公告)号：US12234900B2

    公开(公告)日：2025-02-25

    申请号：US17795736

    申请日：2021-02-08

    Applicant: EXONETIK INC.

    Inventor： Jean-Sebastien Plante ,  Jean-Philippe Lucking Bigue ,  Catherine Veronneau ,  Pascal Larose

    IPC: F16H47/00 ,  B25J9/10 ,  F16D37/02 ,  B25J19/00

    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.

    System and method for operating magnetorheological fluid clutch apparatus
    18.
    发明授权
    System and method for operating magnetorheological fluid clutch apparatus 有权

    公开(公告)号：US11911907B2

    公开(公告)日：2024-02-27

    申请号：US17047090

    申请日：2019-04-23

    Applicant: EXONETIK INC.

    Inventor： Pascal Larose ,  Patrick Chouinard ,  Jean-Sebastien Plante ,  Guifre Julio

    IPC: B25J9/16 ,  F16D37/02 ,  B60G17/015 ,  F16D37/00

    CPC classification number: B25J9/1664 ,  B25J9/1641 ,  F16D37/02 ,  B60G17/015 ,  F16D2037/001

    Abstract: A control system for controlling movements of an end effector connected to a clutch output of magnetorheological (MR) fluid clutch apparatuses. A clutch driver drives the MR fluid clutch apparatuses between a controlled slippage mode, in which slippage in the MR fluid clutch apparatuses varies, and a combined mode, in which slippage between clutch input and 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 mode selector module receives signals representative of a movement parameter(s) of the end effector, to select and switch a mode based on the signals. A movement controller controls the clutch driver and the motor driver to displace the end effector based on the selected mode and on commanded movements of the end effector for the end effector to achieve the commanded movements.

    MULTIPLE MR FLUID CLUTCH APPARATUSES SHARING MR FLUID
    20.
    发明申请
    MULTIPLE MR FLUID CLUTCH APPARATUSES SHARING MR FLUID 审中-公开

    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.

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