A new method of torque control using a DC motor with reduction gears has been investigated. A variety of robot applications requires a robot to have both compliance and rigidity in motion control. There is a competitive requirement to be satisfied in the design of actuation systems suitable for the robot motion. In order to achieve compliant motion, a gear reduction DC servomotor with torque sensory feedback is generally used in robot arm joints. Introducing torque sensory feedback provides a benefit for stable torque generation at the expense of the rigidity of the drive system, and in turn causes a low response of joint position servomechanisms. To improve the response, the position based DC motor control method in which torque output can be produced proportional to the input signal without stiffness reduction is proposed. Feasibility experiments which show that the proposed method is effective are described.