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公开(公告)号：US11167671B2
公开(公告)日：2021-11-09
申请号：US16803254
申请日：2020-02-27
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： B62D5/04 , B62D17/00 , 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：US20210317883A1
公开(公告)日：2021-10-14
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
IPC分类号： F16D37/02
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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公开(公告)号：US10746235B2
公开(公告)日：2020-08-18
申请号：US16095528
申请日：2017-04-25
申请人： EXONETIK INC.
IPC分类号： F16D37/00 , B25J9/10 , B25J9/12 , B25J13/08 , F16D27/10 , F16D48/06 , F16D37/02 , B25J9/16 , F16D7/02 , B25J19/00 , B25J19/06 , B25J9/14
摘要： 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.
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公开(公告)号：US20180214730A1
公开(公告)日：2018-08-02
申请号：US15747358
申请日：2016-08-24
申请人： EXONETIK INC.
IPC分类号： A63B21/008 , A63B21/00 , A63B21/005 , A63B22/02 , A63B24/00 , G06F3/01
CPC分类号： A63B21/00845 , A63B21/00181 , A63B21/002 , A63B21/0058 , A63B21/0552 , A63B21/0628 , A63B21/153 , A63B21/157 , A63B21/158 , A63B21/16 , A63B21/1609 , A63B21/4005 , A63B21/4011 , A63B21/4017 , A63B21/4021 , A63B21/4025 , A63B21/4034 , A63B21/4035 , A63B21/4043 , A63B22/02 , A63B22/0242 , A63B22/201 , A63B23/0211 , A63B23/03508 , A63B23/03525 , A63B24/0087 , A63B71/0622 , A63B2022/0079 , A63B2024/009 , A63B2024/0093 , A63B2071/0638 , A63B2220/20 , A63B2220/51 , A63B2220/54 , A63F13/212 , A63F13/65 , A63F2300/8082 , G06F3/011
摘要： A system for assisting a user in strength training with a strength training device comprises a torque source. One or more magnetorheological (MR) fluid clutch apparatuses has an input coupled to 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 inter face couples the output of the at least one MR fluid clutch apparatus to a force transmission of the training device. One or more sensors provide information indicative of a training action by the user. A training processor comprises a training effort calculator module for receiving the information indicative of the training action and for characterizing the training action, a training assistance controller module for determining a level of force assistance from the characterizing of the training action, and an assistance generator module for controlling the at least one MR fluid clutch apparatus in exerting the force assistance at said level on the force transmission of the training device to assist the user in the training action. A method for assisting a user in strength training with a MR fluid clutch apparatus is also provided.
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公开(公告)号：US11092201B2
公开(公告)日：2021-08-17
申请号：US16340556
申请日：2017-10-13
申请人： EXONETIK INC.
摘要： 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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公开(公告)号：US20210138645A1
公开(公告)日：2021-05-13
申请号：US17047090
申请日：2019-04-23
申请人： EXONETIK INC.
摘要： 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. 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 at least the controlled slippage mode and the combined 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.
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17.发明申请公开(公告)号：US20200377173A1
公开(公告)日：2020-12-03
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
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：US10690200B2
公开(公告)日：2020-06-23
申请号：US15748304
申请日：2016-07-28
申请人： EXONETIK INC.
摘要： 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.
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公开(公告)号：US20200182310A1
公开(公告)日：2020-06-11
申请号：US16642495
申请日：2018-08-29
申请人： SOCIETE DE COMMERCIALISATION DES PRODUITS DE LA RECHERCHE APPLIQUÉE SOCPRA SCIENCES ET GÉNIE S.E.C. , EXONETIK INC.
摘要： 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.
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公开(公告)号：US20190128340A1
公开(公告)日：2019-05-02
申请号：US16095528
申请日：2017-04-25
申请人： EXONETIK INC.
摘要： 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.
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