Reproducing FACTR 2 Force Feedback: Impedance Control Enables Safer Robot Interaction
RemiCadene · x · 2026-08-03
A developer showcased an initial demo reproducing the force feedback from the FACTR 2 paper. The implementation relies on torque and current sensing, which isn't perfect with FeeTech motors due to large gear ratios. The developer is exploring whether this is a hardware limit or if improvements can be made via core changes and more data.
Additionally, the demo highlighted impedance control and gravity compensation. Gravity compensation allows the leader hand to float in free space, verifying control precision and making human-robot interaction significantly safer.
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