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公开(公告)号：US20230098877A1
公开(公告)日：2023-03-30
申请号：US17795736
申请日：2021-02-08
申请人： EXONETIK INC.
摘要： 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.
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公开(公告)号：US10480594B2
公开(公告)日：2019-11-19
申请号：US15785916
申请日：2016-04-21
申请人： EXONETIK INC.
摘要： 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. Outer and inner fluid gaps are between the inner magnetic core and the annular wall, and between the outer magnetic core and the annular wall, the outer and inner fluid gaps filled with at least one fluid. At least one coil is supported by the annular wall and actuatable to deliver a magnetic field through the MR fluid, the magnetic field following a path comprising the annular wall, the outer fluid gap, the outer magnetic core, the at least one first shear surface and the at least one second shear surface,the inner magnetic core and the inner fluid gap, wherein one of the rotors is adapted to be coupled to a power input and the other of the rotors is adapted to be connected to an output whereby actuation of the at least one coil results in a variation of torque transmission between the rotors.
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3.发明申请公开(公告)号：US20180370591A1
公开(公告)日：2018-12-27
申请号：US15776611
申请日：2016-11-16
申请人： EXONETIK INC.
摘要： 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. A processor unit for controlling the at least one MR fluid clutch apparatus in exerting the variable amount of assistance force as a function of said information, wherein the system is configured for one of the MR fluid actuator unit and the interface to be coupled to the structure, and for the other of the MR fluid actuator unit and the interface to be coupled to the device for the assistance force from the MR fluid actuator unit to assist in moving the device.
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公开(公告)号：US20220153386A1
公开(公告)日：2022-05-19
申请号：US17588824
申请日：2022-01-31
申请人： EXONETIK INC.
IPC分类号： B62M6/55 , B62M6/45 , B62M19/00 , F16D37/02 , E05F15/60 , E05F15/627 , F16D29/00 , B62B5/00 , B60K1/00 , B62M11/14 , B60K7/00 , F16D37/00 , F16H19/06
摘要： 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. A processor unit for controlling the at least one MR fluid clutch apparatus in exerting the variable amount of assistance force as a function of said information, wherein the system is configured for one of the MR fluid actuator unit and the interface to be coupled to the structure, and for the other of the MR fluid actuator unit and the interface to be coupled to the device for the assistance force from the MR fluid actuator unit to assist in moving the device.
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公开(公告)号：US11267529B2
公开(公告)日：2022-03-08
申请号：US16995908
申请日：2020-08-18
申请人： EXONETIK INC.
IPC分类号： B62M6/55 , B62M6/45 , B62M19/00 , F16D37/02 , E05F15/60 , E05F15/627 , F16D29/00 , B62B5/00 , B60K1/00 , B62M11/14 , B60K7/00 , F16D37/00 , F16H19/06 , E05F15/611 , F16H1/16
摘要： 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. A processor unit for controlling the at least one MR fluid clutch apparatus in exerting the variable amount of assistance force as a function of said information, wherein the system is configured for one of the MR fluid actuator unit and the interface to be coupled to the structure, and for the other of the MR fluid actuator unit and the interface to be coupled to the device for the assistance force from the MR fluid actuator unit to assist in moving the device.
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公开(公告)号：US11027434B2
公开(公告)日：2021-06-08
申请号：US16329395
申请日：2017-09-01
申请人： EXONETIK INC.
摘要： 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.
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公开(公告)号：US10752139B2
公开(公告)日：2020-08-25
申请号：US15714452
申请日：2017-09-25
申请人： EXONETIK INC.
发明人： Jean-Sebastien Plante , Marc Denninger , Guifre Julio , Patrick Chouinard , Pascal Larose , Caroline Fraser
IPC分类号： B60N2/50 , F16D37/02 , B60G99/00 , F16D48/06 , B60N2/02 , B60N2/16 , B60G17/015 , B60G21/055 , F16D47/06 , F16D37/00
摘要： 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.
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公开(公告)号：US20180156285A1
公开(公告)日：2018-06-07
申请号：US15785916
申请日：2016-04-21
申请人： EXONETIK INC.
摘要： 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. Outer and inner fluid gaps are between the inner magnetic core and the annular wall, and between the outer magnetic core and the annular wall, the outer and inner fluid gaps filled with at least one fluid. At least one coil is supported by the annular wall and actuatable to deliver a magnetic field through the MR fluid, the magnetic field following a path comprising the annular wall, the outer fluid gap, the outer magnetic core, the at least one first shear surface and the at least one second shear surface,the inner magnetic core and the inner fluid gap, wherein one of the rotors is adapted to be coupled to a power input and the other of the rotors is adapted to be connected to an output whereby actuation of the at least one coil results in a variation of torque transmission between the rotors.
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公开(公告)号：US20220389976A1
公开(公告)日：2022-12-08
申请号：US17772003
申请日：2020-11-12
申请人： EXONETIK INC.
发明人： Pascal LAROSE , Patrick CHOUINARD , Marc DENNINGER
IPC分类号： F16D37/02 , E05F15/611
摘要： A system for operating at least one magnetorheological fluid clutch apparatus may, in a first mode, vary an amount of torque transmission between a driving member and a driven member in the at least one magnetorheological fluid clutch apparatus by actuating at least one coil in the at least one magnetorheological fluid clutch apparatus. In a second mode, the system may cause torque transmission between the driven member and the driving member by setting a desired remanent magnetization level in a magnetic component of the at least one magnetorheological fluid clutch apparatus by actuating the at least one coil in the at least one magnetorheological fluid clutch apparatus.
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公开(公告)号：US11499594B2
公开(公告)日：2022-11-15
申请号：US17284601
申请日：2019-10-11
申请人： EXONETIK INC.
发明人： Jean-Sebastien Plante , Jérôme Marchand , Pascal Larose , Patrick Chouinard , Marc Denninger , Jean-Philippe Lucking Bigue
摘要： 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.
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