651 Miniature Direct Drive Rotary Actuators II: Eye, Finger and Leg R. Wallace, November 1993 We have developed miniature direct drive DC motor actuators for robotics. These actuators have low friction, small size, high speed, low construction cost, no gear backlash, operate safely without the use of limit switches and generate moderate torque at a high torque to weight ratio. Our initial experiments indicated the feasibility of constructing a variety of new high speed low cost actuators, for applications in camera pointing, robot hands, and robot legs. In this work we study some prototype devices in each of these categories.