US Patent 10030431 Automotive door power assist

A method of closing a vehicle door includes the steps of providing a door pivotally coupled to a vehicle body, transmitting a door closing signal to a controller, identifying a current position of the door using a position sensor, closing the door using a power assist device powered from a hinge axis of the door, monitoring the door position during closing, releasing a catch of a latch mechanism when a latch striker of the vehicle body is partially received in the latch mechanism, and latching the door to the vehicle body.