Starting this company has been a passion project for a few years now. My first product, described by the banner immediately below, is now ready for sale:

The NearZero (NZ) controller allows fine, slow motion, or positioning control of all brushless motors for direct drive applications. Intended usage includes controlling hub motors for domestic robots, self-balancing devices, actuators for manipulators and robotic arms, and motorized or stabilized gimbals and mounts. Any brushless motor requiring between 0 and 3A and between 7 and 36V will work with this controller, though the quality of slow motion control depends on the motor used. An experimental feature included in the configuration console allows the selection of asymmetrical non-sine commutation waveforms that may reduce cogging on motors not intended for smooth positioning operation, but this feature will require extensive trial and error on the part of the user. For all the detailed nitty gritty, download the PDF manual below, but note that I'm still finishing up a couple of the sections.

Here's a very quick demo: https://youtu.be/JMXz5tzpq7U 

Quickstart Guide and Manual here: NearZero.pdf

Coming soon:
-A full-size domestic robotics platform (think R2D2 sized, with an arm and eventually a vacuum), powered by open source ROS software.
-An affordable parallel elastic robotics arm for interfaceing with humans and objects for use as part of a mobile robot.