Multi-Axially Force/Torque Controlled Rating Leg Assembly for Vehicle Drive and Suspension

This device is designed to drive ground vehicles at high speeds and safely over rough and uncertain terrain.  An actuated wheel rotates an arrangement of actuated leg-like contact linkages where both the wheel and each leg mechanism are force/torque controllable at high speeds.  This multi-axial force/torque controllability enables a smooth ride for a mounted vehicle chassis, even over unseen rough terrain and at high speeds.  In effect, a rider on a force-torque controlled vehicle can be made to feel as though they are floating on air, even as the vehicle clamors over rocky ground terrain underneath. 

Advantages

• Applications include better maneuverability for high-speed military vehicles, all-terrain emergency vehicles, medical patient transport, package delivery, and interplanetary exploration.