Magnetorheological fluid clutch apparatus and control systems

A magnetorheological fluid clutch apparatus comprising:

• at least one input rotor adapted to be coupled to a power input, the input rotor having a first set of at least one input shear surface, and a second set of at least one input shear surface, the first set and the second of the input rotor rotating concurrently in a same orientation;
• an output rotor rotatably mounted about the input rotor for rotating about a common axis with the input rotor, the output rotor having a first set of at least one output shear surface, and a second set of at least one output shear surface, the first sets of the input rotor and the output rotor separated by at least a first annular space and forming a first transmission set, the second sets of the input rotor and the output rotor separated by at least a second annular space and forming a second transmission set;
• magnetorheological fluid in each of the annular spaces, the MR 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;
• and
• a pair of electromagnets, with a first electromagnet associated with the first transmission set, and a second electromagnet associated with the second transmission set, the electromagnets configured to deliver a magnetic field through the MR fluid, the electromagnets configured to vary the strength of the magnetic field;
• whereby actuation of at least one of the pair of electromagnets results in torque transmission from the at least one input rotor to the output rotor.