Clutch/brake assembly

A clutch/brake assembly comprising:

• an input shaft arranged to be rotated, in use, by a motor;
• an output shaft configured to be rotated by the input shaft when brought into engagement therewith;
• rotating clutch plate elements configured to transmit torque from the input shaft to the output shaft when engaged;
• a logarithmic spring mounted around the input shaft;
• a translating shaft around the spring;
• an output sleeve between the output shaft and the clutch plate elements;
• and
• a solenoid connected to the translating shaft;
• wherein the solenoid, in a first state of energization, causes movement of the translating shaft to compress the spring in a first direction to bring the clutch plate elements and the input shaft and the output sleeve into engagement such that torque is transmitted from the input shaft to the output shaft via the spring, the clutch plate elements and the output sleeve;
• wherein the solenoid, in a second state of energization, causes movement of the translating shaft to compress the spring in a second direction such that the clutch plate elements are disengaged from the output sleeve such that torque is not transmitted between the clutch plate elements and the output shaft.