Patent ID: 8731716

Claim:
A method of operating a biomimetic mechanical joint within a biomimetic system, the method comprising the steps of: obtaining a biomimetic mechanical joint having first and second fractional actuators configured for rotating a support member about a pivot device, wherein the first and second fractional actuators can be selectively recruited for and disengaged from driving the mechanical joint, and wherein each of the first and second fractional actuators can be continuously throttled when driving the mechanical joint; operating the first and second fractional actuators to rotate the support member about the pivot device; monitoring a user input for the mechanical joint; measuring a first operating state of the mechanical joint; calculating an error function between the user input and the first operating state; identifying, using the error function, at least one powering configuration for the first and second fractional actuators capable of reducing the error function; selecting a powering configuration from the identified at least one powering configuration; and causing the mechanical joint to enter a second operating state based on the selected powering configuration.