Electrical and Computer Engineering Publications

Document Type

Conference Proceeding

Publication Date

Fall 10-1-2018


2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

URL with Digital Object Identifier



This paper presents an improved design approach for the construction of a Magneto-Rheological (MR) clutch intended to be used in a prospective 5 degrees of freedom robot. The MR clutch features embedded Hall sensors for intrinsic torque control. After a brief description of the MR clutch principles, the details of the mechanical design are discussed. Simulation and preliminary experimental results demonstrate the main characteristics and advantages of the proposed MR clutch.