Actuator

Abstract

The invention relates to a method of making an actuator comprising a plurality of force elements and an actuator made according to the method. The method comprises providing a coupler for coupling force from the force elements to a load; calculating a transfer function for each force element wherein the transfer functions allow the force provided to the load to be predicted; determining an error functional which is indicative of any undesired dips in the predicted force; calculating the parameters of the force elements which minimize the error functional, and coupling force elements having the calculated parameters to the coupler to make the actuator.

Dependencies are inferred from the claim text.