“…Indirect-drive RSA are equipped with rotary motor which requires the conversion of the linear motion of the shock absorber to rotary motion of the motor. The conversion can be realized through hydraulic pipe [11] [12] [13], rack and pinion mechanism [14,15,16,17], arm-teeth mechanism [18,19], ball screws mechanism [20,21,22,23,24,25,26] and etc. During the conversion process the motor rotation speed is always amplified.…”