This it does using pneumatics and rotary vanes. Rotary vane in action The arm has seven degrees of freedom, three in the shoulder, one in the elbow, another in the lower arm, and two in the wrist.

Vane actuators have torque outputs as high as 500,000 lb-in. Helix actuators have helical grooves in the piston rod that convert linear to rotary motion ... Linear cylinders consist of a simple ...