[pravda]

Well, I am very impressed.

14 bit = 2^14 = 16384. Optical or some kind of hall-effect? I am going to guess hall-effect.

When I read "permanent magnet synchronous motor" I think stepper-ish motor. Is that what the joints are? No gearbox, custom stepper-ish motor, with the 14-bit encoder giving feedback not just on the position, but also the load?

What voltage do these custom motors run on? I will guess .... 48V.

It is a very sleek-looking arm.

[sbierwagen]

  the 14-bit encoder giving feedback not just on the 
  position, but also the load?

Rotary encoder probably wouldn't give you that. Usually you just measure how much current the motor's drawing.