Patent ID: 11911907
Assignee: EXONETIK INC.
Field: Mechanical elements (Mechanical engineering)
Classification: CPC B  F | IPC B  F

Claim 14:
15. A system for controlling movements of an end effector connected to at least two magnetorheological (MR) fluid clutch apparatuses, the system comprising:
at least one processing unit; and
a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for:
continuously monitoring at least one movement parameter of the end effector;
selecting a mode of operation of the at least two MR fluid clutch apparatuses based on at least one movement parameter and a commanded movement;
driving a motor output of at least one motor selectively coupled to the MR fluid clutch apparatuses, while varying the slippage of the MR fluid clutch apparatuses to cause a displacement of the end effector in a commanded movement in a controlled slippage mode, and alternatively,
maintaining the slippage of at least two of the MR fluid clutch apparatuses below a given threshold simultaneously, clutch outputs of the at least two of the MR fluid clutch apparatuses resisting movement of the end effector in the same direction, in a combined mode.