Exoskeleton, orthosis, wearable device or mobile robots using magnetorheological fluid clutch apparatus

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.

1 . A system comprising:
 at least one wearable device including
 a first body interface adapted to be secured to a first bodily part, 
 at least a second body interface adapted to be secured to a second bodily part separated from the first bodily part by a physiological joint, 
 at least one joint providing at least one degree of freedom between the first body interface and the second body interface; 
   a magnetorheological (MR) fluid actuator unit comprising
 at least one power source, 
 at least one 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 coupling 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.   
     
     
         2 . The system according to  claim 1 , wherein the transmission includes sets of a master cylinder and slave cylinder connected by a hydraulic circuit, the master cylinder being driven by the MR fluid actuator unit and driving the slave cylinder. 
     
     
         3 - 7 . (canceled) 
     
     
         8 . The system according to  claim 2 , wherein at least one of the master cylinder and the slave cylinder is a rolling diaphragm cylinder. 
     
     
         9 . The system according to  claim 1 , wherein the MR fluid actuator unit has at least a pair of the MR fluid clutch apparatus operated antagonistically for opposite movements of the first body interface relative to the second body interface. 
     
     
         10 . The system according to  claim 1 , wherein the MR fluid actuator unit has at least one said MR fluid clutch apparatus operating antagonistically against a biasing member of the wearable device for opposite movements of the first body interface relative to the second body interface. 
     
     
         11 . The system according to  claim 1 , wherein the first body interface is a shank body interface adapted to be secured to a shank of a user. 
     
     
         12 - 15 . (canceled) 
     
     
         16 . The system according to  claim 1 , wherein the first body interface is an upper arm body interface adapted to be secured to an upper arm of a user. 
     
     
         17 - 23 . (canceled) 
     
     
         24 . A system comprising:
 at least one robotic arm including
 a chassis adapted to be supported by a user, 
 an arm portion having a first member connected to the chassis by a first joint, at least a second member connected to the first member by a second joint, and an end effector at a free end of the arm portion; 
   a magnetorheological (MR) fluid actuator unit comprising
 at least one power source, 
 at least one 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 coupling the MR fluid actuator unit to the robotic arm for converting torque from the MR fluid actuator unit to relative movement of the members of the robotic arm with respect to one another and to the chassis.   
     
     
         25 . The system according to  claim 24 , wherein the transmission includes sets of a master cylinder and slave cylinder connected by a hydraulic circuit, the master cylinder being driven by the MR fluid actuator unit and driving the slave cylinder. 
     
     
         26 . The system according to  claim 25 , wherein the master cylinder is connected to the at least one MR fluid clutch apparatus by one of a ball screw, rack and pinion and cable system. 
     
     
         27 . The system according to  claim 25 , wherein the slave cylinder is mounted to the first member. 
     
     
         28 . The system according to  claim 27 , wherein the slave cylinder is connected to second member by a cable and pulleys assembly. 
     
     
         29 . The system according to  claim 25 , wherein at least one of the master cylinder and the slave cylinder is a rolling diaphragm cylinder. 
     
     
         30 . The system according to  claim 24 , wherein the MR fluid actuator unit has at least a pair of the MR fluid clutch apparatus operated antagonistically for opposite movements of the members of the robotic arm with respect to one another and to the chassis. 
     
     
         31 . The system according to  claim 24 , wherein the MR fluid actuator unit has at least one said MR fluid clutch apparatus operating antagonistically against a biasing member of the arm portion for opposite movements of the members of the robotic arm with respect to one another and to the chassis. 
     
     
         32 . The system according to  claim 24 , wherein the at least one power source is an electric motor. 
     
     
         33 . The system according to  claim 24 , wherein the MR fluid actuator unit is located remotely from the chassis. 
     
     
         34 . The system according to  claim 24 , wherein the chassis is mounted on a dorsal support adapted to be worn by a user. 
     
     
         35 . The system according to  claim 34 , wherein the MR fluid actuator unit is mounted on the chassis. 
     
     
         36 . The system according to  claim 24 , wherein the transmission includes a cable transmission system, one end of a cable being driven by the MR fluid actuator unit and another end of the cable attached to the robotic arm.