US Patent 7427072 Active vehicle suspension

An active wheel suspension for suspending a wheel assembly from a sprung body of a wheeled vehicle, and adapted to permit a center of the wheel assembly to move relative to the sprung body through a jounce and rebound travel and defining a wheel center locus path relative to the body, the suspension including an actuator connected to both the wheel assembly and the sprung body and adapted to apply an active control force between the body and wheel assembly to move the wheel assembly. The wheel suspension is configured such that a tangent to the wheel center locus path is inclined rearward with respect to vertical with the wheel center at nominal ride height.