公开(公告)号：US20210317883A1

公开(公告)日：2021-10-14

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

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.

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.

公开(公告)号：US20180214730A1

公开(公告)日：2018-08-02

申请号：US15747358

申请日：2016-08-24

Applicant: EXONETIK INC.

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

IPC: A63B21/008 ,  A63B21/00 ,  A63B21/005 ,  A63B22/02 ,  A63B24/00 ,  G06F3/01

CPC classification number: 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

Abstract: 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.

公开(公告)号：US12281678B2

公开(公告)日：2025-04-22

申请号：US16642495

申请日：2018-08-29

Applicant: SOCIETE DE COMMERCIALISATION DES PRODUITS DE LA RECHERCHE APPLIQUÉE SOCPRA SCIENCES ET GENIE S.E.C. ,  EXONETIK INC.

Inventor： David Rancourt ,  Alexis Lussier Desbiens ,  Jean-Sebastien Plante ,  Pascal Larose

IPC: F16D37/02 ,  B64D1/22 ,  B66C13/08 ,  B66D1/14 ,  B66F19/00 ,  F16D48/06 ,  B64U10/14 ,  B64U101/64 ,  B64U101/67 ,  F16D37/00

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.

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.

公开(公告)号：US20240309944A1

公开(公告)日：2024-09-19

申请号：US18262241

申请日：2022-02-01

Applicant: EXONETIK INC.

Inventor： Jean-Sébastien PLANTE ,  Pascal LAROSE ,  Jean-Philippe LUCKING BIGUE

IPC: F16H47/07

CPC classification number: F16H47/07

Abstract: An actuator system has a power source, an output member, a first fluidic coupling and a second fluidic coupling. The fluidic couplings generate a variable amount of torque transmission. A transmission operatively couples the fluidic couplings to the power source and to the output member in at least first load path and a second load path, the first load path and the second load path being parallel to one another, the first load path including the first fluidic coupling, the second load path including the second fluidic coupling. The fluidic couplings are operable for torque from the power source to be transmitted solely via the first load path, solely via the second load path, and cumulatively via the first load path and the second load path.

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.

公开(公告)号：US10780943B2

公开(公告)日：2020-09-22

申请号：US15776611

申请日：2016-11-16

Applicant: EXONETIK INC.

Inventor： Marc Denninger ,  Guifre Julio ,  Jean-Sebastien Plante ,  Pascal Larose

IPC: 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

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. 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.

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.