Patent ID: 7221076

Claim:
A system having a harmonic frequency actuator system comprising: providing an actuator body, the actuator body having a first set of fingers with a different geometry than a second set of fingers, the first set of fingers and the second set of fingers for generating motions for first and second semi-rigid elements, wherein providing the actuator body comprises forming one of the first set of fingers or the second set of fingers with a predefined geometry tuned to a predetermined frequency different than that of the other of the second set of fingers or the first set of fingers, respectively; and attaching a high frequency actuator to the actuator body forming a harmonic frequency actuator to provide a range of frequencies for a first harmonic frequency pair of the first set of fingers and a second harmonic frequency pair of the second set of fingers; and mounting the harmonic frequency actuator to the system, wherein the harmonic frequency actuator provides motion to components in the system.