Bidirectional magneto-rheological actuator

A bidirectional magneto-rheological (MR) actuator for generating a torque or force output and for providing resistance to a torque or force input, comprising:

• a first input member comprising a first rotor;
• an output member comprising a second rotor having a first face and a second face outwardly opposing the first face;
• a second input member comprising a housing having a non-magnetic portion and a magnetic portion, each of the first input member and the output member being rotatably coupled to the second input member, the housing defining a chamber being shaped and dimensioned for accommodating the first rotor and the second rotor therein and further for receiving a quantity of MR fluid therewithin;
• a magnetic field generation assembly comprising a first coil assembly configured to selectively apply a magnetic field to a portion of the MR fluid between the first rotor and the second rotor for controlling engagement of the first rotor with the second rotor, and a second coil assembly configured to selectively apply a magnetic field to a portion of the MR fluid between the second rotor and the magnetic portion of the housing for controlling engagement of the second rotor with the magnetic portion of the housing,
• wherein the first coil assembly and the second coil assembly are coupled to the second rotor;
• and
• the first coil assembly comprising at least one magnetic coil being formed on the first face of the second rotor and the second coil assembly comprising at least one magnetic coil being formed on the second face of the second rotor, wherein the first face of the second rotor substantially faces the non-magnetic portion of the housing and the second face of the second rotor substantially faces the magnetic portion of the housing.