A hydraulic actuator assembly includes an actuator, a first sink subsystem in fluid communication with an upper working chamber of the actuator, a second sink subsystem in fluid communication with a lower working chamber of the actuator and a source subsystem in fluid communication with both the upper and lower working chambers of the actuator. A low pressure accumulator is in fluid communication with the upper and lower working chambers, the first and second sink subsystems and source subsystem. A high pressure accumulator is in fluid communication with the first and second sink subsystems and the source subsystem. The hydraulic actuator assembly can generate passive or active forces with or without energy recuperation.