FORCE-CONTROLLED HYDRO-ELASTIC ACTUATOR

WIPO Patent Application WO2001065121

A3

Provided is a force-controlled hydro-elastic actuator (10), including a hydraulic actuator (16), having a connection to hydraulic fluid and including a mechanical displacement member (24) positioned to be mechanically displaced by fluid flow at the actuator. A valve (12) is connected at the hydraulic actuator connection and has a port for input and output of fluid to and from the valve. At least one elastic element (18) is provided in series with the mechanical displacement member of the hydraulic actuator and is positioned to deliver, to a load (20), force generated by the hydraulic actuator. A transducer (21) is positioned to measure a physical parameter indicative of the force (F1) delivered by the elastic element and to generate a corresponding transducer signal (F measured). A force controller (28) is connected between the transducer and the valve to control the valve, based on the transducer signal, for correspondingly actuating the hydraulic actuator and deflecting the elastic element.

PRATT GILL A
ROBINSON DAVID W

PCT/US2001/006591

March 14, 2002

February 28, 2001

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MASSACHUSETTS INST TECHNOLOGY (US)

F15B9/09; F15B11/028; (IPC1-7): F15B11/028; B25J9/16; F15B9/09; G05B19/46

US3877226A	1975-04-15
US4954005A	1990-09-04
US4765225A	1988-08-23
EP0373095A1	1990-06-13

SHIM J H ET AL: "A NEW PROBING SYSTEM FOR THE IN - CIRCUIT TEST OF A PCB", PROCEEDINGS OF THE 1996 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. MINNEAPOLIS, APR. 22-28,1996, IEEE, vol. 1 CONF. 13, 22 April 1996 (1996-04-22), pages 590 - 595, XP000750268, ISBN: 0-7803-2989-9

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