Patent ID: 8528461

Claim:
An actuator arrangement, comprising: a first fluidic-based actuator device having a first maximum possible exertable force, the first fluidic based actuator being designed to exert the first maximum possible exertable force on a first location of a body associated with the first actuator device; a second fluidic-based actuator device having a second maximum possible exertable force, the second fluidic based actuator being designed to exert the second maximum possible exertable force on a second location of the body associated with the first actuator device, wherein the second maximum possible exertable force is less than the first maximum possible exertable force, and wherein the first fluidic-based actuator device comprises a first actuator chamber, the second fluidic-based actuator device comprises a second actuator chamber, and the second actuator chamber is nested inside the first actuator chamber.