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  "abstract": "A robotic pharmaceutical preparation system comprising at least one container-receiving module configured to hold at least one container; a motor coupled to the container-receiving module for directly driving movement of the container-receiving module along a movement path; circuitry configured to detect electrical current consumption of the at least one motor; and a controller configured for: receiving an indication from the circuitry regarding the electrical current consumption; determining that an interference exists based on the indication; and upon determining that an interference exists, modifying operation of the system.",
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    "SHEM-TOV ERIC",
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  "title": "Direct drive actuation and control in a robotic pharmaceutical preparation system",
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