# US 11,027,434 B2 · Telepresence controller and system using magnetorheological fluid clutch apparatuses > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,434 B2 - Document ID: US11027434B2 - Status: Granted - Kind: B2 - Application number: 16/329,395 - Filed: 2017-09-01 - Published: 2019-06-27 - Granted: 2021-06-08 - Earliest claimed: 2016-09-02 - Assignees: Exonetik Inc. - Applicants: Exonetik Inc. - Inventors: Pascal Larose; Jean-Sebastien Plante; Marc Denninger; Guifre Julio - Web page: https://patentgrep.com/patent/US11027434B2 ## CPC - B25J 13/025: {comprising haptic means} - B25J 9/1689: {Teleoperation} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J 13/088: {with position, velocity or acceleration sensors} - F16D 37/02: the particles being magnetisable - F16D 2037/001: {Electric arrangements for clutch control} - F16D 2037/004: {characterised by multiple substantially axial gaps in which the fluid or medium consisting of small particles is arranged} - G05B 2219/40195: Tele-operation, computer assisted manual operation - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16D: COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A telepresence controller is provided for interaction with a remote telepresence session to control haptic interactions between an end effector and the remote telepresence session. Force sensor(s) monitor force(s) applied to an end effector. Position sensor(s) monitor a position of the end effector. The telepresence controller communicates with the remote telepresence session to exchange position data and force data indicative of concurrent haptic movements of the end effector and an object in the remote telepresence session. Magnetorheological fluid clutch apparatus(es) have an input adapted to be connected to a power source and configured to receive a degree of actuation (DOA) therefrom, the magnetorheological fluid clutch apparatus(es) having an output being actuatable to selectively transmit the received DOA to the end effector by controlled slippage. A force controller module determines a force input required on the end effector as a function of haptic events for the object in the remote telepresence session. A clutch driver module drives the magnetorheological fluid clutch apparatus with the controlled slippage being as a function of the force input. ## Claims ### Claim 1 A telepresence controller for interaction with a remote telepresence session to control haptic interactions between an end effector and the remote telepresence session, the telepresence controller comprising: at least one force sensor adapted to monitor at least one force applied to an end effector, at least one position sensor adapted to monitor a position of the end effector, the telepresence controller being configured for communicating with the remote telepresence session to exchange position data and force data indicative of concurrent haptic movements of the end effector and an object in the remote telepresence session; at least one magnetorheological fluid clutch apparatus having an input adapted to be connected to a power source and configured to receive a degree of actuation (DOA) therefrom, the magnetorheological fluid clutch apparatus having an output being actuatable to selectively transmit the received DOA to the end effector by controlled slippage; a force controller module for determining a force input required on the end effector as a function of haptic events for the object in the remote telepresence session; and at least one clutch driver module to drive the magnetorheological fluid clutch apparatus with the controlled slippage being as a function of the force input. ### Claim 2 (depends on 1) The telepresence controller according to claim 1, wherein the telepresence controller sends the position data as obtained from the at least one position sensor to the remote telepresence session, and the force controller module receives the force data from the remote telepresence session. ### Claim 3 (depends on 1) The telepresence controller according to claim 1, wherein the telepresence controller sends the force data as obtained from the at least one force sensor to the remote telepresence session, and the force controller module receives the position data from the remote telepresence system. ### Claim 4 (depends on 1) The telepresence controller according to claim 1, wherein the at least one force sensor includes a sensor calculating the force from current of the magnetorheological fluid clutch apparatus. ### Claim 5 (depends on 1) The telepresence controller according to claim 1, comprising a plurality of the magnetorheological clutch apparatus configured to be connected to the end effector. ### Claim 6 (depends on 1) The telepresence controller according to claim 1, further comprising a comparator module to produce a reference force from the position data, the reference force being calculated from a comparison of the current position of the end effector and of the position of the object in the remote telepresence session. ### Claim 7 (depends on 6) The telepresence controller according to claim 6, wherein the force controller module determines the force input on the end effector from the reference force and the at least one force measured by the at least one force sensor. ### Claim 8 (depends on 1) The telepresence controller according to claim 1, further comprising a position adjustor module for scaling the position data, whereby a displacement resulting from the force input is a scaled proportion of a displacement of the object in the remote telepresence session. ### Claim 9 (depends on 1) The telepresence controller according to claim 1, further comprising a force adjustor for scaling the force data, whereby the force input is a scaled proportion of a force on the object caused by the haptic events in the remote telepresence session. ### Claim 10 (depends on 1) The telepresence controller according to claim 1, wherein the remote telepresence session is virtual. ### Claim 11 (depends on 1) A telepresence station comprising: a telepresence controller according to claim 1; the end effector; and at least one tensioning member being connected at one end to the output of the magnetorheological clutch apparatus and at the other end to the end effector so as pull the end effector upon actuation of the magnetorheological fluid clutch apparatus. ### Claim 12 A telepresence system to control haptic interactions between end effectors remote from one another, the telepresence system comprising: at least a pair of telepresence controllers, each of the telepresence controllers comprising at least one force sensor adapted to monitor at least one force applied to an end effector, at least one position sensor adapted to monitor a position of the end effector, the telepresence controller being configured for communicating with the other telepresence controller to exchange position data and force data indicative of concurrent haptic movements of the end effectors, at least one magnetorheological fluid clutch apparatus configured to receive a degree of actuation (DOA), the magnetorheological fluid clutch apparatus having an output being actuatable to selectively transmit the received DOA to the end effector by controlled slippage, a force controller module for determining a force input required on the end effector as a function of haptic events for the end effector operated by the other telepresence controller, and at least one clutch driver module to drive the magnetorheological fluid clutch apparatus with the controlled slippage being as a function of the force input. ### Claim 13 (depends on 12) The telepresence system according to claim 12, wherein a first of the telepresence controllers sends the position data as obtained from the at least one position sensor to a second of the telepresence controllers, and the force controller module receives the force data from the second telepresence controller. ### Claim 14 (depends on 12) The telepresence system according to claim 12, wherein a first of the telepresence controllers sends the force data as obtained from the at least one force sensor to a second of the telepresence controllers, and the force controller module receives the position data from the second telepresence controller. ### Claim 15 (depends on 12) The telepresence system according to claim 12, wherein the at least one force sensor includes a sensor calculating the force from current of the magnetorheological fluid clutch apparatus. ### Claim 16 (depends on 12) The telepresence system according to claim 12, comprising a plurality of the magnetorheological clutch apparatus configured to be connected to the end effector. ### Claim 17 (depends on 12) The telepresence system according to claim 12, further comprising a comparator module in either one of the telepresence controllers to produce a reference force from the position data, the reference force being calculated from a comparison of the current position of the end effector and of the position of the object in the remote telepresence session. ### Claim 18 (depends on 17) The telepresence system according to claim 17, wherein one of the force controller modules determines the force input on the end effector from the reference force and the at least one force measured by the at least one force sensor. ### Claim 19 (depends on 12) The telepresence system according to claim 12, further comprising a position adjustor module in either one of the telepresence controllers for scaling the position data, whereby a displacement resulting from the force input is a scaled proportion of a displacement of the object in the remote telepresence session. ### Claim 20 (depends on 12) The telepresence system according to claim 12, further comprising a force adjustor in either one of the telepresence controllers for scaling the force data, whereby the force input is a scaled proportion of a force on the object caused by the haptic events on the end effector operated by the other telepresence controller.