This is a really important example of what people have been talking about- taken to the next level…
Syntax and your choice of words / terms is extremely important.
If I was tackling your problem, I’d start by sketching and/or building a scale nechanical prototype - so you can get real world input on the forces and range of motion needed.
Then you’ll be better informed to the mechanical methods required, and the choice of actuators needed to operate in the real world.