초록 ▼

Provided is a force-controlled hydro-elastic actuator, including a hydraulic actuator, having a connection to hydraulic fluid and including a mechanical displacement member positioned to be mechanically displaced by fluid flow at the actuator. A valve is connected at the hydraulic actuator connectio

Provided is a force-controlled hydro-elastic actuator, including a hydraulic actuator, having a connection to hydraulic fluid and including a mechanical displacement member positioned to be mechanically displaced by fluid flow at the actuator. A valve 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 is provided in series with the mechanical displacement member of the hydraulic actuator and is positioned to deliver, to a load, force generated by the hydraulic actuator. A transducer is positioned to measure a physical parameter indicative of the force delivered by the elastic element and to generate a corresponding transducer signal. A force controller 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.

대표청구항 ▼

1. A force-controlled hydro-elastic actuator comprising:a hydraulic actuator having a connection to hydraulic fluid and including a mechanical displacement member positioned to be mechanically displaced by fluid flow at the actuator; a valve connected at the hydraulic actuator connection and having

1. A force-controlled hydro-elastic actuator comprising:a hydraulic actuator having a connection to hydraulic fluid and including a mechanical displacement member positioned to be mechanically displaced by fluid flow at the actuator; a valve connected at the hydraulic actuator connection and having a port for input and output of fluid to and from the valve; at least one elastic element provided in series with the mechanical displacement member of the hydraulic actuator and positioned to deliver, to a load, force generated by the hydraulic actuator; a transducer positioned to measure a physical parameter indicative of the force delivered by the elastic element and to generate a corresponding transducer signal; and a force controller connected to accept an input indicative of a desired actuator output force to be delivered to the load, the force controller being further connected between the transducer and the valve to control the valve based on the transducer signal and the input, for correspondingly actuating the hydraulic actuator, by an amount that delivers to the load the desired actuator output force, and deflecting the elastic element.