An actuator for exerting a controllable force between a first and second attachment point (111, 112),comprising: an actuator body; a piston assembly; a power screw assembly connecting the actuator body to the piston assembly; wherein the actuator body includes a cylinder bore configured for holding a working fluid, the cylinder bore having a first cylinder end and second cylinder end, wherein the piston assembly includes a piston that slides linearly within the cylinder bore and a piston rod that extends from the piston through the second cylinder end to a piston rod end, which is located outside the actuator body, wherein the actuator body includes a first attachment point affixed to the actuator body and a second attachment point affixed to the piston rod end; wherein the power screw assembly comprises a power screw connected to the actuator body to allow rotation and prevent translation, a power screw nut affixed to the piston assembly, and a first rotary motor disposed in the actuator body and configured to drive the power screw assembly; wherein the piston assembly divides the cylinder bore into a first volume of the working fluid and a second volume of the working fluid, wherein sliding of the piston causes rotation of the power screw and first motor; wherein the actuator further comprises a first fluid port and a second fluid port, wherein the first fluid port allows fluid to enter or leave the first volume of the working fluid, and the second fluid port allows fluid to enter or leave the second volume of the working fluid, the first and second fluid ports (125, 126) being connected via a fluidic restriction, the fluidic restriction being an adjustable fluidic restriction controlled by a second motor; and wherein the actuator further comprises a hydraulic accumulator in fluid communication with at least one of the first volume of working fluid and the second volume of working fluid, wherein the actuator further comprises at least one of a first control state and a second control state; wherein the first control state controls the actuator force during power generation and the second control state controls the actuator force during power dissipation, wherein the first control state further comprises: the first motor configured to exert the desired actuator control force between the first and the second actuator attachment points and the second motor configured to adjust the fluidic restriction in a minimum restriction state. an actuator body; a piston assembly; a power screw assembly connecting the actuator body to the piston assembly; wherein the actuator body includes a cylinder bore configured for holding a working fluid, the cylinder bore having a first cylinder end and second cylinder end, wherein the piston assembly includes a piston that slides linearly within the cylinder bore and a piston rod that extends from the piston through the second cylinder end to a piston rod end, which is located outside the actuator body, wherein the actuator body includes a first attachment point affixed to the actuator body and a second attachment point affixed to the piston rod end; wherein the power screw assembly comprises a power screw connected to the actuator body to allow rotation and prevent translation, a power screw nut affixed to the piston assembly, and a first rotary motor disposed in the actuator body and configured to drive the power screw assembly; wherein the piston assembly divides the cylinder bore into a first volume of the working fluid and a second volume of the working fluid, wherein sliding of the piston causes rotation of the power screw and first motor; wherein the actuator further comprises a first fluid port and a second fluid port, wherein the first fluid port allows fluid to enter or leave the first volume of the working fluid, and the second fluid port allows fluid to enter or leave the second volume of the working fluid, the first and second fluid ports (125, 126) being connected via a fluidic restriction, the fluidic restriction being an adjustable fluidic restriction controlled by a second motor; and wherein the actuator further comprises a hydraulic accumulator in fluid communication with at least one of the first volume of working fluid and the second volume of working fluid, wherein the actuator further comprises at least one of a first control state and a second control state; wherein the first control state controls the actuator force during power generation and the second control state controls the actuator force during power dissipation, wherein the first control state further comprises: the first motor configured to exert the desired actuator control force between the first and the second actuator attachment points and the second motor configured to adjust the fluidic restriction in a minimum restriction state.