Why the AI "engineering expert"? Seems to take some credibility away from what otherwise could be an interesting and informative read.

AI was clearly heavily used in the making of this article, and I almost dismissed it as slop. But after reading it I think there's enough correct information here for it to be useful as a general overview of the problems in the space.

This is a fascinating topic. The engineering details on actuators are really well explained.

Check out opensource actuator for robots.

Opentorque actuator

https://www.gabrael.io/new-page

https://github.com/G-Levine/OpenTorque-Actuator