We have developed a lightweight robot joint especially for exoskeleton applications. Reboocon Bionics has a pending patent on this technology.
The joint weighs 1.56kg, can output more than 700W power and 100Nm torque.
This compliant joint is capable of achieving very precise torque sensing and torque control.
We did the famous "cracker test"(well, "famous", mostly among researchers in robotic field) to verify the zero-torque tracking capability of the joint.
We also did the very first safety test. We show that the robot is safe in the sense when it encounters external objects (in this case a human hand), it should detect it and stop moving. Check this video out.