Abstract
Force sensitivity is indispensable feature for a robot actuator. To enhance force sensitivity, backdrivability of an actuator is vital. We have been proposing intrinsically backdrivable electro-hydrostatic actuators(EHA) and their effectiveness in force sensing. However, in order to enhance the backdrivability, we sacrificed power efficiency of the actuator. To restrain power loss, we introduced a hydraulic cylinder in an EHA as an output. In this paper, we present design detail of linear EHA that is going to be used for the force sensitive ankle joint mechanism. Furthermore, we evaluated static characteristics of developed linear EHA.
