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Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005. Dongwoon Choi, Woonghee Shon and Ho-Gil Lee "Design of 5 D. F Robot Hand with an artificial skin For An Android Robot" Department of Applied Robot Technology, Korea Institute of Industrial Technology Republic of Korea.

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Results show that the hydraulic resistance is significantly reduced in the proposed four ports actuators; and the proposed cylinders run faster than the conventional cylinders and a considerable amount of energyis saved as well.

Key words: Computational Hydraulic, Energy Efficient Actuators, Energy Saving in Hydraulic, Hydraulic Control Reference [1] P.

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The proposed four ports cylinder was simulated and parameters such as ports sizes, loads and pressures are varied during the simulation.

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