“There are 10’s of thousands of electric motor designs in the world … none of them were suitable for a humanoid robot… “ Musk

To get the humanoids to replace people will require mechanisms/wiring that approach these fantastic reliabilities.

Linear actuation leaves space for wiring at the joint.

Really, it’s better for the cables to be thinner if they have to be flexed.

Calibrating the physical magnet properties to determine force accuracy.