US Patent 6945541 Vehicle suspension

An active suspension for a wheeled vehicle is configured for improved occupant comfort, with an advantageously low maximum horizontal kinetic displacement of the wheel assembly, and particularly low horizontal inertial and tire loads, as the suspension moves through jounce and rebound under active control. The front suspension is a strut configuration, with an active actuator in place of the strut, and the rear suspension is a double wishbone configuration.