Dynamic motion control system using magnetorheological fluid clutch apparatuses

A vehicle comprising:

• a chassis;
• wheel assemblies;
• an active steering system connecting at least a pair of said wheel assemblies to the chassis by steering members, the active steering system including
• at least one motor,
• at least one magnetorheological (MR) fluid clutch apparatus coupled to the at least one motor to receive torque from the motor, the MR fluid clutch apparatus controllable to transmit a variable amount of torque,
• a mechanism between the at least one MR fluid clutch apparatus and one of the steering members to convert the torque received from the at least one MR fluid clutch apparatus into a force on the steering member,
• at least one sensor for providing information indicative of a state of the vehicle, and
• a controller for receiving the information indicative of the state of the vehicle and for outputting a signal to control the at least one MR fluid clutch apparatus in exerting a desired force on the steering member to adjust the wheel position or orientation independently of a steering input.