Actuating device for a vehicle and method for operating an actuating device

Abstract

An actuating device (100) for a vehicle comprises a rotor (105) with a rotating element (110), a coil (120) with a yoke (200), and a magnetorheological medium (115). The rotor (105) has an axle (125) that can be coupled to an actuating element. The rotor (105) is rotatably mounted with respect to the coil (120). The rotating element (110) is connected to the axle (125). The coil (120) is designed to provide a magnetic field for transferring a magnetorheological medium (115) between a rest state and an activated state. The yoke (200) is designed to guide and / or conduct field lines of the magnetic field at least partially through the rotating element (110) and / or through the magnetorheological medium (115).The magnetorheological medium (115) is designed to cause a first resistance characteristic for a rotational movement (135) of the rotor (105) and / or the rotary element (110) in the rest state and a second resistance characteristic for the rotational movement (135) of the rotor (105) and / or the rotary element (110) in the activated state.

Description

The present invention relates to an actuating device for a vehicle and to a method for operating an actuating device.A magnetorheological medium can be used, for example, in different actuators. In this case, regions of the magnetorheological medium can be solidified in a targeted manner by introduction of a magnetic field, with the result that mechanical stability at different positions can be set or changed in a targeted manner. Such a behavior can be exploited especially in the specific setting of, for example, haptics in actuators in a vehicle.Against this background, the present invention provides an improved actuating device for a vehicle and an improved method for operating an actuating device according to the main claims. Advantageous embodiments are evident from the dependent claims and the following description.The advantages which can be achieved with the approach presented consist in particular in the fact that an adjusting device with a rotating element can be created which can enable an improved resistance characteristic to a magnetorheological medium.A corresponding actuating device for a vehicle has a rotor with a rotating element, a coil with a yoke and a magnetorheological medium, in particular an elastomer. The rotor has an axis which can be coupled to an adjusting element. The rotor is rotatably supported with respect to the spool. The rotating element is connected to the axle. The coil is configured to provide a magnetic field for transferring a magnetorheological medium between a rest state and an activation state. The yoke is configured to conduct and additionally or alternatively conduct field lines of the magnetic field at least partially through the rotating element and additionally or alternatively through the magnetorheological medium. The magnetorheological medium surrounds the rotor and additionally or alternatively the rotary element. The magnetorheological medium is configured to cause a first resistance characteristic for a rotational movement of the rotor and additionally or alternatively of the rotary element in the idle state and a second resistance characteristic for the rotational movement of the rotor and additionally or alternatively of the rotary element in the activation state.The actuating device can be understood to mean an operating device which comprises an operating element which enables a user to operate the operating device. Alternatively, the actuating device can be used in conjunction with an actuator system, for example for a combination of different power levels. The rotor can be understood to mean a movable, rotating part of the device. The rotary element can be, for example, a disk which is arranged on the rotor and can move with the rotor through a magnetorheological medium. The rotating element can be asymmetrically shaped. The coil can be an electrical component which has windings in order to generate a magnetic field when current flows. The yoke may be a member for holding the coil. The yoke can be designed as a magnetic flux guide piece, so that when the coil is energized, field lines of the magnetic field can be guided through the yoke. A magnetorheological medium can be a heterogeneous substance mixture of magnetically polarizable particles, which is also referred to as magnetorheological fluid or elastomer. The magnetorheological medium can also be a powder. Upon application of a magnetic field, caused by the energization of a coil, the magnetorheological medium solidifies. The state of rest of the magnetorheological medium can be understood as a state in which no magnetic field acts on the magnetorheological medium, that is to say the coil is not energized or is de-energized. The activation state of the magnetorheological medium can be understood as a state in which a magnetic field acts on the magnetorheological medium, that is to say the coil is energized. By applying the external magnetic field, viscoelastic or dynamic-mechanical properties of the magnetorheological medium can be changed quickly and reversibly, wherein a deformation of the magnetorheological medium takes place between the state of rest and the state of activation. Thus, the magnetorheological medium can have a higher viscosity in the activation state than in the resting state. As a result, the first resistance characteristic can represent a state of the magnetorheological medium in which the magnetorheological medium opposes a rotational movement of the rotor and / or of the rotational element with a low rotational resistance, that is to say exerts a low braking torque on the rotor and / or the rotational element. As a result, for example in the case of an adjusting device designed as an operating device, an operator only needs to exert a low torque on the adjusting element in order to be able to rotate the adjusting element. The adjusting element then feels, for example, easily rotatable. The second resistance characteristic can represent a state of the magnetorheological medium in which the magnetorheological medium opposes a high rotational resistance compared to the low rotational resistance of the rotor and / or of the rotary element, that is to say exerts a high braking torque on the rotor and / or the rotary element. As a result, a high torque is to be exerted on the actuating element, for example, by an operator, in order to be able to rotate the actuating element. The adjusting element then feels, for example, difficult to rotate. The high rotational resistance can also be so great that the adjusting element is blocked.The approach presented here can also be understood as an MRF actuator operating principle. More specifically, the active principle may comprise a Rollel principle and / or a Rollel actuator. The approach presented here can enable a combination of different effects, for example controllability of a disc actuator combined with a higher power density of a wedge actuator. The approach presented here can be controlled more easily than the wedge actuator because of the small number of movable parts and can have a higher power density than a shear actuator and / or disk actuator. A low complexity of components and a simple regulation can be made possible. Furthermore, disturbing effects from a residual magnetization can be eliminated with little effort. In addition, a strong dependence of the torque on the rotational speed can be reduced.According to an embodiment, the rotating element may be arranged eccentrically on the rotor.According to a further embodiment, the yoke can encompass the rotary element and, additionally or alternatively, be arranged on an outer edge of the rotary element. Advantageously, when the coil is energized, the field lines of the magnetic field can thus be reliably conducted through the yoke to the rotary element.According to a further embodiment, the yoke can be formed in one piece, in particular in a U-shaped manner, or the yoke can comprise two parts separated from one another, in particular wherein the coil can be arranged between the two parts separated from one another. Advantageously, a small installation space can be sufficient for the components of the adjusting device, whereby costs can be saved.According to a further embodiment, the coil can be arranged in a plane with the rotating element and additionally or alternatively parallel to the rotating element. Advantageously, a small installation space for the components of the adjusting device can be sufficient for this, whereby costs can be saved.According to a further embodiment, the rotary element can be circular or multi- or polygonal. The rotary element can be triangularly shaped, for example, and resemble a piston of a Wakel engine. More specifically, the rotating element may resemble a Reuleaux triangle, for example. Advantageously, a higher power density can thus be achieved.According to a further embodiment, the rotary element can be connected to the axle in a rotationally fixed manner and additionally or alternatively by means of a transmission transmission. Advantageously, a higher braking torque can thus be made possible.According to a further embodiment, the actuating device can have a further rotary element, wherein the further rotary element can be arranged parallel to and spaced apart from the rotary element and additionally or alternatively on the rotor. Advantageously, a high braking torque can thereby be exerted on the rotor and / or the rotary element and / or the further rotary element.According to a further embodiment, the adjusting device can have a housing which is designed to prevent the magnetorheological medium from leaking into an environment outside the housing, in particular wherein the rotary element can be arranged in the housing. The axle can, for example, project through the housing through an opening in the housing. Advantageously, a reliable functioning of the adjusting device can thus be made possible.According to a further embodiment, the housing can be formed from a magnetically non-conductive or a non-magnetizable material. Advantageously, the magnetic field can thereby act reliably in the region of the magnetorheological medium.Furthermore, an embodiment of the approach presented here as an operating element is conceivable, which has a variant of an actuating device presented here.Finally, a vehicle is described as an embodiment of the approach presented here, which has an embodiment of an actuating device mentioned herein or an operating element presented here.A method for operating an embodiment of an actuating device mentioned herein has a step of activating the coil and a step of deactivating the coil. The step of activating the coil is performed to generate a magnetic field to cause the magnetorheological medium to transition from the quiescent state to the activated state to cause the second resistance characteristic to rotational movement of the rotor and additionally or alternatively the rotational element. The step of deactivating the spool is performed to cause the magnetorheological medium to transition from the activation state to the rest state to cause the first resistance characteristic for rotational movement of the rotor and additionally or alternatively the rotational element.This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control device.A control device can be an electrical device which processes electrical signals, for example sensor signals, and outputs control signals as a function thereof. The control device can have one or more suitable interfaces, which can be designed as hardware and / or software. In a hardware configuration, the interfaces can be part of an integrated circuit, for example, in which functions of the control unit are implemented. The interfaces can also be dedicated, integrated circuits or consist at least partially of discrete components. In the case of a software configuration, the interfaces can be software modules which are present, for example, on a microcontroller in addition to other software modules.A computer program product having program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used for carrying out the method according to one of the embodiments described above when the program is executed on a computer or a device is also advantageous.The invention is explained in more detail by way of example with reference to the appended drawings. The following are shown: FIG. 1 shows a schematic sectional illustration of an adjusting device according to an exemplary embodiment; FIG. 2 shows a schematic sectional illustration of the adjusting device shown in FIG. 1 according to an exemplary embodiment; FIG. 3 shows a schematic detailed illustration of the actuating device shown in FIG. 2 according to an embodiment example; FIG. 4 shows a schematic sectional illustration of the actuating device according to an exemplary embodiment; FIG. 5 shows a schematic detailed illustration of the actuating device shown in FIG. 4 according to an embodiment example; FIG. 6 shows a schematic sectional illustration of an adjusting device according to an exemplary embodiment; FIG. 7 shows a schematic detailed illustration of the actuating device shown in FIG. 6 according to an embodiment example; FIG. 8 shows a schematic illustration of a rotary element of an actuating device according to an exemplary embodiment; FIG. 9 shows a schematic illustration of an adjusting device according to an exemplary embodiment; FIG. 10 shows a flow diagram of an exemplary embodiment of a method for operating an actuating device; FIG. 11 shows a block diagram of an exemplary embodiment of a control unit for operating an actuating device; and FIG. 12 shows a schematic illustration of an exemplary embodiment of a vehicle.Before reference is made below to preferred exemplary embodiments of the present invention, the backgrounds and principles of exemplary embodiments will first be briefly explained: An actuator is known in which a disk moves through a space filled with magnetorheological fluid (MRF). A magnetic field flows through the MRF. The disk breaks open the MRF chains and a braking torque is produced on the shaft. Alternatively, rollers or balls move in the MRF. Wedges are formed by the applied magnetic field. These wedges provide a braking torque. With reference to the following figures, an improved adjusting device according to exemplary embodiments is explained in more detail.In the following description of preferred exemplary embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the different figures and acting in a similar manner, wherein a repeated description of these elements is omitted.FIG. 1 shows a schematic sectional illustration of an exemplary embodiment of an actuating device 100 for a vehicle. More specifically, FIG. 1 shows a top view of the actuator 100. The actuating device 100 is designed, for example, to operate any desired vehicle function of the vehicle or to enable an operation of any desired vehicle function of the vehicle by a user. For example, the adjusting device 100 can be manually actuated by an occupant of the vehicle, e.g. via an adjusting element.The actuating device 100 has a rotor 105 with a rotary element 110, a coil 120 with a yoke and a magnetorheological medium 115 which is designed, for example, as an elastomer. The yoke can also be referred to as a magnetic flux guide piece and is described in more detail in FIG. 2. The rotor 105 has an axis 125, which can also be referred to as an axis of rotation, which can be coupled to an actuating element. The rotor 105 is rotatably supported with respect to the spool 120. The rotary element 110 is connected to the axle 125. The coil 120 may also be referred to as a B-field generation coil and is configured to provide a magnetic field for transferring the magnetorheological medium 115 between a rest state and an activation state. The magnetorheological medium 115 surrounds the rotor 105 and / or the rotary element 110. The magnetorheological medium 115 is configured to cause a first resistance characteristic for a rotational movement of the rotor 105 and / or of the rotary element 110 in the idle state and a second resistance characteristic for the rotational movement of the rotor 105 and / or of the rotary element 110 in the activated state.In the exemplary embodiment shown here, the axis 125 is arranged centrally in the actuating device 100. A rotational movement 135 that can be exerted on the axle 125 is illustrated by way of example, such that the axle 125 is embodied, for example, as a revolving axle 125. The rotor 105 is arranged eccentrically on the axis 125, for example. The rotary element 110 is arranged eccentrically on the rotor 105 according to an exemplary embodiment. According to a further exemplary embodiment, the rotary element 110 is connected to the axle 125 in a rotationally fixed manner and / or by means of a transmission. The rotating element 110 is formed as an asymmetric disk, for example, wherein the thickness is variable and moves through the magnetorheological medium 115. The shear and flow principle is mainly used. The structure of the adjusting device 100 is similar to that of a Wahl engine.According to an embodiment, the magnetorheological medium 115 is disposed between the spool 120 and the rotor 105 and / or the rotary element 110. More specifically, the magnetorheological medium 115 surrounds the rotor 105 and / or the rotary member 110. Between the magnetorheological medium 115 and the coil 120, a barrier element 130 is arranged by way of example, which is designed to prevent the magnetorheological medium 115 from emerging into the environment of the actuating device 100. The barrier element 130 enables an environment in which the magnetorheological medium 115 can act reliably when the coil 120 is energized. The functioning, in particular the functioning of the rotary element 110, is described in more detail in the following figures.FIG. 2 shows a schematic sectional illustration of the adjusting device shown in FIG. 1 according to an exemplary embodiment or a similar adjusting device. More specifically, FIG. 2 shows a side view of the actuator 100.According to an embodiment, the rotor 105, the rotating element 110, the magnetorheological medium 115, the coil 120 and the yoke 200 are surrounded by a housing 205. The axle 125 is connected to the rotor 105 through an opening in the housing 205. According to one exemplary embodiment, the housing 205 is designed to prevent the magnetorheological medium 115 from escaping into an environment outside the housing 205. The housing 205 is formed from a magnetically non-conductive material, for example.When the coil 120 is energized, a magnetic field is generated. The yoke 200 is configured to guide and / or conduct field lines of the magnetic field at least partially through the rotating element 110 and / or through the magnetorheological medium 115. Further, the field lines are passed through the yoke 200. According to the embodiment shown here, the yoke 200 surrounds the coil 120 so that the coil 120 is held reliably. According to one embodiment, the yoke 200 is integrally formed. For example, the yoke 200 is U-shaped, so that the coil 120 according to the exemplary embodiment shown here is arranged between two sides of the yoke 200, wherein the coil 120 is arranged in a plane with the rotary element 110.According to one exemplary embodiment, the axle 125 can be coupled to an operating element. A user can actuate the operating element, for example, by carrying out a rotational movement 135. This rotational movement 135 is transmitted from the axis 125 to the rotor 105 and / or the rotational element 110, such that the rotor 105 and or the rotational element 110 move in the region filled by the magnetorheological medium 115. The size of the rotor 105 and / or the rotary element 110 is selected such that the rotor 105 and / or the rotary element 110 have sufficient space to move in the magnetorheological medium 115.When the coil 120 is not energized, the magnetorheological medium 115 is in a rest state since no magnetic field acts on the magnetorheological medium 115. FIG. 2 shows the actuating device 100 for example in an unenergized state, such that the magnetorheological medium 115 brings about a first resistance characteristic for the rotational movement 135 of the rotor 105 and / or of the rotary element 110. In FIG. 3, the coil 120 is shown in an energized state.FIG. 3 shows a schematic detailed illustration of the actuating device 100 shown in FIG. 2 according to an embodiment example.According to the exemplary embodiment shown here, the coil 120 is energized, so that a magnetic field is generated. The magnetic field lines 300, which may also be referred to as the B field, flow from the coil 120 through the yoke 200, through the magnetorheological medium 115 and through the rotor 105 and the rotary element 110. Subsequently, the field lines 300 continue to flow over the yoke 200 and again over the coil 120. As a result of the energization of the coil 120, the magnetorheological medium 115 solidifies in the region of the field lines 300, as a result of which the second resistance characteristic for the rotational movement 135 of the rotor 105 and / or rotary element 110 is brought about. As a result, the rotor 105 and / or the rotary element 110 exert a shear load and / or a yield load on the magnetorheological medium 115 during the rotary movement 135 of the rotor 105 and / or of the rotary element 110. The flow load on the magnetorheological medium 115 is caused, for example, since the field lines 300 flow in a straight line through the magnetorheological medium 115. When the magnetorheological medium 110 provides the second resistance characteristic, the rotational movement 135 feels hard for the user.FIG. 4 shows a schematic sectional illustration of the adjusting device 100 according to an exemplary embodiment. This is an embodiment of the actuator shown in FIG. 2 or similar actuator, except that the magnetorheological medium 115, rotor 105, and rotary member 110 have a different arrangement than in FIG. 2. The rotating element 110 is formed as an asymmetric disk, for example, wherein the thickness is variable and moves through the magnetorheological medium 115. Both the shear principle and the squeezing principle are used. The structure of the adjusting device 100 is similar to that of a Wahl engine.FIG. 5 shows a schematic detailed illustration of the actuating device 100 shown in FIG. 4 according to an embodiment example.According to the exemplary embodiment shown here, the coil 120 is energized, so that a magnetic field is generated. The magnetic field lines 300 flow from the coil 120 through the yoke 200, through the magnetorheological medium 115 and through the rotor 105 and the rotary element 110. Subsequently, the field lines 300 continue to flow over the yoke 200 and again over the coil 120. As a result of the energization of the coil 120, the magnetorheological medium 115 solidifies in the region of the field lines 300, as a result of which the second resistance characteristic for the rotational movement 135 of the rotor 105 and / or rotary element 110 is brought about. As a result, the rotor 105 and / or the rotary element 110 exert a shear load and / or squeezing load on the magnetorheological medium 115 during the rotary movement 135 of the rotor 105 and / or of the rotary element 110. The squeezing load on the magnetorheological medium 115 is caused, for example, since the field lines 300 flow through the magnetorheological medium 115 in a curved manner, so that the field lines 300 form a circle. The squeezing load enables very high forces which act on the magnetorheological medium 115, for example in the direction of the field lines 300.FIG. 6 shows a schematic sectional illustration of an adjusting device 100 according to an exemplary embodiment.According to one exemplary embodiment, the actuating device 100 has a further rotary element 610. The coil 120 is arranged, for example, between the rotary element 110 and the further rotary element 610. According to one exemplary embodiment, the yoke 202 has parts 600, 605 which are separate from one another. The coil 120 is arranged between the two parts 600, 605 separated from each other. According to the exemplary embodiment shown here, the magnetorheological medium 115 is arranged on the second part 605 of the yoke 200. The axle 125 is arranged, for example, between the rotary element 110 and the further rotary element 610.The rotary elements 110, 610 are formed, for example, as two asymmetric disks, wherein the thickness is variable and which move through the magnetorheological medium 115. The squeezing principle is mainly used. The structure of the adjusting device 100 is similar to that of a Wahl engine.FIG. 7 shows a schematic detailed illustration of the actuating device 100 shown in FIG. 6 according to an embodiment example.According to the exemplary embodiment shown here, the coil 120 is energized, so that a magnetic field is generated. The magnetic field lines 300 flow from the coil 120 through the yoke 200, through the magnetorheological medium 115 and through the rotor 105 and the rotary element 110. Subsequently, the field lines 300 continue to flow through the yoke 200 to the further rotating element 610 and the magnetorheological medium 115 such that the field lines 300 form a circular course, similar to FIG. 5 Due to the energization of the coil 120, the magnetorheological medium 115 solidifies in the region of the field lines 300, whereby the second resistance characteristic for the rotational movement 135 of the rotor 105 and / or of the rotating element 110 and / or of the further rotating element 610 is effected. As a result, the rotor 105 and / or the rotary element 110 and / or the further rotary element 610 exert a squeezing load on the magnetorheological medium 115 during the rotary movement 135 of the rotor 105 and / or of the rotary element 110 and / or of the further rotary element 610.FIG. 8 shows a schematic illustration of a rotary element 110 of an actuating device 100 according to an exemplary embodiment.The rotary element 110, which can also be referred to as a disk, is embodied, for example, as a polygon, similar to the piston of a Wakel engine, whereby a higher power density can be made possible. The rotor 105 is arranged in a geared manner, for example, whereby a higher maximum torque can be made possible.FIG. 9 shows a schematic illustration of an adjusting device 100 according to an exemplary embodiment. This can be an adjusting device described in the preceding figures or a similar adjusting device. The actuating device 100 is arranged, for example, on a steering wheel 900 of a vehicle.An adjusting element 905 is rigidly arranged on the rotor of the adjusting device 100, for example. The actuating element 905 can be actuated, more precisely pivoted, manually by an occupant of the vehicle by a rotational movement 135. According to various exemplary embodiments, the actuating element 905 can be coupled to part of the actuating device 100 or to the actuating device 100.FIG. 10 shows a flow diagram of an exemplary embodiment of a method 1000 for operating an actuating device. The adjusting device corresponds or is similar to the adjusting device from one of the above-described figures. The method 1000 has a step 1005 of activating the coil and a step 1010 of deactivating the coil.Step 1005 is executed to generate a magnetic field to cause the magnetorheological medium to transition from the quiescent state to the activated state. This causes the second resistance characteristic for the rotational movement of the rotor and / or the rotational element. Step 1010 is executed to cause the magnetorheological medium to transition from the activation state to the rest state. This causes the first resistance characteristic for the rotational movement of the rotor and / or the rotational element.FIG. 11 shows a block diagram of an exemplary embodiment of a control unit 1100 for operating an actuating device. The control device 1100 comprises a unit 1105 for activating the coil in order to bring about a transfer of the magnetorheological medium from the rest state to the activation state. Furthermore, the control device comprises a unit 1110 for deactivating the coil in order to cause the magnetorheological medium to be transferred from the activation state to the idle state.FIG. 12 shows a representation of an exemplary embodiment of a vehicle 1200 having an actuating device 100 and a control device 1100. The actuating device 100 and the control device 1100 correspond or resemble the actuating device and the control device from a respective one of the above-described figures. In this case, the actuating device 100 and the control unit 1100 are capable of transmitting signals, for example are electrically connected to one another.The exemplary embodiments described and shown in the figures are chosen only by way of example. Different exemplary embodiments can be combined with one another completely or with respect to individual features. An exemplary embodiment can also be supplemented by features of a further exemplary embodiment.Furthermore, method steps according to the invention can be repeated and carried out in a sequence other than that described.If an embodiment includes an "and / or" combination between a first feature and a second feature, this can be read such that the embodiment has both the first feature and the second feature according to one embodiment and either only the first feature or only the second feature according to a further embodiment.Reference numerals denote reference numerals100 Actuating device 105 Rotor 110 Rotary element 115 Magnetorheological medium 120 Coil 125 Axis 130 Barrier element 135 Rotary movement 200 Yoke 205 Housing 300 Field lines 600 First part 605 Second part 610 Further rotary element 900 Steering wheel 905 Actuating element 1000 Method for operating an actuating device 1005 Step of activating 1010 Step of deactivating 1100 Control device for operating an actuating device 1105 Unit for activating 1110 Unit for deactivating 1200 Vehicle

Claims

Actuating device (100) for a vehicle, wherein the actuating device (100) has the following features: a rotor (105) having a rotary element (110), wherein the rotor (105) has an axis (125) which can be coupled to an actuating element (905), wherein the rotor (105) is rotatably mounted with respect to a coil (120), wherein the rotary element (110) is connected to the axis (125); the coil (120) having a yoke (200), wherein the coil (120) is configured to provide a magnetic field for transferring a magnetorheological medium (115) between a rest state and an activation state, wherein the yoke (200) is configured to guide and / or conduct field lines (300) of the magnetic field at least partially through the rotary element (110) and / or through the magnetorheological medium (115); and the magnetorheological medium (115), which surrounds the rotor (105) and / or the rotary element (110) and is designed to bring about a first resistance characteristic for a rotary movement (135) of the rotor (105) and / or of the rotary element (110) in the idle state and to bring about a second resistance characteristic for the rotary movement of the rotor (105) and / or of the rotary element (110) in the activated state.The actuator (100) according to claim 1, wherein the rotating member (110) is eccentrically disposed on the rotor (105).The adjusting device (100) according to any one of the preceding claims, wherein the yoke (200) engages around the rotating element (110) and / or is arranged on an outer edge of the rotating element (110).Actuating device (100) according to one of the preceding claims, wherein the yoke (200) is formed in one piece, in particular in a U-shaped manner, or wherein the yoke (200) comprises two parts (600, 605) separated from one another, in particular wherein the coil (120) is arranged between the two parts (600, 605) separated from one another.The actuator (100) according to any one of the preceding claims, wherein the spool (120) is arranged in a plane with the rotating element (110) and / or parallel to the rotating element (110).Adjusting device (100) according to one of the preceding claims, wherein the rotating element (110) is formed in a circular or multi- or polygonal manner.Actuating device (100) according to one of the preceding claims, wherein the rotary element (110) is connected to the axle (125) in a rotationally fixed manner and / or by means of a transmission.Actuating device (100) according to one of the preceding claims, having a further rotating element (610), wherein the further rotating element (110) is arranged spaced apart parallel to the rotating element (110) and / or on the rotor (105).Actuating device (100) according to one of the preceding claims, having a housing (205) which is designed to prevent the magnetorheological medium (115) from emerging into an environment outside the housing (205), in particular wherein the rotary element (110) is arranged in the housing (205).The actuator (100) according to any one of the preceding claims, wherein the housing (205) is formed from a magnetically non-conductive or a non-magnetizable material.Vehicle (1200) having an adjusting device (100) according to one of Claims 1 to 10.Method (1000) for operating an actuating device (100) according to one of the preceding claims, wherein the method (1000) comprises the following steps: activating (1005) the coil (120) in order to generate a magnetic field in order to cause the magnetorheological medium (115) to be transferred from the rest state to the activation state in order to cause the second resistance characteristic for the rotational movement (135) of the rotor (105) and / or of the rotational element (110), and deactivating (1010) the coil (120) in order to cause the magnetorheological medium (115) to be transferred from the activation state to the rest state in order to cause the first resistance characteristic for the rotational movement (135) of the rotor (105) and / or of the rotational element (110).Control device (1100) which is configured to execute and / or actuate the steps (1005, 1010) of the method (1000) according to Claim 12 in corresponding units (1105, 1110).Computer program which is configured to execute and / or actuate the steps (1005, 1010) of the method (1000) according to Claim 12.A machine readable storage medium having stored thereon the computer program of claim 13.

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