E. Cruz-Hernandez, V. Hayward Most available actuators and transmissions exhibit nonlinear characteristics which impair precision and speed of response. We are researching a technique whereby nested feedback controllers are designed to linearize the response and compensate perfectly for these nonlinear characteristics, given a desired operating range. The nested controllers are derived directly from experimental data following a black-box approach. Preliminary experiments have successfully applied this approach to a tendon transmission, a hydraulic actuator, a harmonic drive, and a piezo actuator, all exhibiting various nonlinear behaviors. The research is now directed at the automatic generation of these nested controllers.