Modular Multi-Phase Actuator for Reconfigurable Mechanical Power Amplification

A method for implementing an actuator, comprising:

• providing a motor operable in first and second substantially opposite actuation directions;
• providing a driving member that is driven by the motor during at least the first actuation direction;
• providing a clutch that passively engages the driving member during the first actuation direction of the motor;
• wherein a force generated by the motor in the first actuation direction maintains the clutch engaged with the driving member and the force is transferred to the driving member;
• wherein the driving member is maintained in position against a back-driving force by the clutch when the motor is actuated in the first direction;
• wherein the driving member is back-drivable when the clutch is disengaged.

A controller for an actuator system comprising two or more actuators, the controller comprising:

• a processor;
• non-transitory computer-readable storage media containing stored instructions executable by the processor, wherein the stored instructions direct the processor to perform calculations to generate output control signals to the two or more actuators;
• wherein the control signals include signals that initiate priming and power strokes of the two or more actuators according to phase control including recruitment of the two or more actuators and/or a timing function to control timing of signals for the recruited two or more actuators;
• wherein the controller implements a feedback loop wherein the actuator system output is sensed by one or more of a force sensor, position sensor, velocity sensor, accelerometer, and inertial measurement unit and one or more sensed values are compared to target value and a result of the comparison is used as input to the phase control to determine a number of actuators to be recruited from the two or more actuators, and the timing function determines the timing of the control signals to achieve the target values.