High torque and precision actuator. Ideas?

I'm 15 and this is a prototype shoulder joint for the arm I'm making, and the follow-up to my hexapod. If you want to learn more about this project, feel free to check out my Portfolio.

Stats: In this video it's lifting around 5 lb about 8 inches away — roughly 4.5 Nm — fairly easily. It looks a little wobbly because I had nothing to clamp it down to, so I was holding it by hand. In the final design I'm targeting around 50 Nm of working torque (design target, not yet measured).

Precision: The goal of the joint is to have super high precision and low/no backlash, comparable to $2000 joints. I don't have a dial indicator yet, but in the next video or so I'll have a video testing the precision and backlash.

Drivetrain: Mini CIM (12V brushed DC) → 4:1 GT2 belt → 3D printed cycloidal drive 15:1 → capstan drive as the final stage 8:1. Total reduction ~480:1. The capstan is last on purpose — no gear teeth means almost no backlash, and it divides whatever backlash the earlier stages have.

Price: The joint cost about $200, which I think is pretty good for the specs and the low backlash. It's still very much a prototype — I need to add encoders and mounting blocks. I also used a cycloidal drive in this prototype, but it ended up being a pain to deal with and I'm not sure it was worth it. If anyone knows better speed reducers under ~$40 with low backlash, or has tips for improving a printed cycloidal, I'd really appreciate it.

Credits:

• Cycloidal drive: HowToMechatronics — I adapted his 3D printed cycloidal model, changing the input from a 5mm D-shaft coupler to a one-piece 8mm D-socket so it takes my belt-driven shaft directly.
• Capstan drive: Aaed Musa — his cable drive work (from his robot dog builds) is what this stage is based on.

Next: I plan to add encoders and sensors to help turn the motor movement into precise angle control. In the future I hope to get this joint to be the shoulder of the arm, so it can lift around 5-10 lb at a distance of around 4 ft, while still having high precision.

I'd love feedback on the joint and the arm overall — there's a form on my portfolio if you want to help shape how it gets built.