The Meka T2 Humanoid Torso is a two degree-of-freedom force controlled torso for a humanoid robot. It is design to increase the workspace of a Meka A2 bimanual manipulator system. Engineered for stability, safety, and reliability, the T2 system features high-strength force-controlled actuators, zero-backlash Harmonic Drive gearheads, integrated brake, and the Meka M3 real-time control system.