Telescopic structure actuation

A method for actuating an actuation system, the method comprising:

• receiving, by a data processor of an actuation system, a first input corresponding to an interaction force exerted upon at least one segment of a plurality of segments of a telescopic structure of the actuation system, the first input including a first current value supplied to a first actuator of the actuation system at a time the interaction force was exerted upon the at least one segment;
• receiving, by the data processor, a second input associated with a maximum interaction force of the at least one segment, the second input including a second current value;
• receiving, by the data processor, a third input associated with an actuation force (Fo) to be exerted by the at least one segment, the third input including a third current value;
• determining, by the data processor, an actuation signal including a fourth current value less than the second current value and less than or equal to the third current value, the fourth current value causing the first actuator to actuate the at least one segment to exert the actuation force;
• and
• providing, by the data processor, the actuation signal to the first actuator.