The Meka A2 Compliant Arm is a lightweight seven degree-of-freedom force controlled arm. Designed to match the size and shape of a small adult, it is the ideal platform for researchers interested in manipulation for human environments. Engineered for compactness, safety, and reliability, the A2 system features high-strength force-controlled actuators, intrinsic physical compliance, zero-backlash Harmonic Drive gearheads, and the Meka M3 real-time manipulation control system.