Low-impedance actuation device using magnetorheological fluid clutch apparatuses

A single degree of freedom actuation system comprising:

• at least two MR fluid clutch apparatuses and at least two power sources operatively connected to the at least two MR fluid clutch apparatuses,
• a first interface adapted to be secured to a first part,
• a second interface adapted to be secured to a second movable part,
• at least one joint providing a degree of freedom between the first interface and the second interface;
• the at least two MR fluid clutch apparatus operable to generate a variable amount of torque transmission when subjected to a magnetic field;
• a transmission coupling the MR fluid clutch apparatuses to the degree of freedom, the transmission having at least one reduction mechanism operatively connected to at least one of the at least two MR fluid clutch apparatuses;
• a controller for controlling the at least two MR fluid clutch apparatuses to drive the degree of freedom, the controller configured for driving the degree of freedom in at least an antagonistic mode in which the at least two MR actuator units transmit torque in opposite directions to the degree of freedom, and configured for driving the degree of freedom in a collaborative mode in which the at least two MR fluid clutch apparatuses transmit torque in a common direction to the degree of freedom.