A type of miniature linear actuators called a cybernetic actuator for biomedical applications is described. This actuator has four driving states: free, increasing, decreasing, and lock. The free and lock states can release excessive applied load from outside to provide safety characteristics for both human and micromechanisms. Miniaturized linear cybernetic actuators combining a piezoelectric impact drive with electromagnetic clamping were designed and developed. Feasibility and basic performance of the actuators were confirmed by theory and experiments. Improved performance in terms of maximum speed, energy efficiency, and silent drive as a miniature linear actuator were verified successfully by using a controlled friction impact drive.
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