652 Feedback Control of Miniature Direct Drive Devices D. Max, R. Wallace We discuss dynamics and control of miniature direct drive actuators, specifically for the two axis spherical pointing motor and for the one axis direct drive finger joint. These actuators can move both accurately and at high speed, however the capabilities of these devices cannot be fully exploited using open loop control techniques. We derive an ideal PID feedback control scheme. Our initial experiments indicate that PID feedback control for the SPM and finger joint is highly feasible and a significant improvement over open loop methods.