Nice. Real force feedback, not yet another R/C servo based system. The motors [1] are US$73 each, and you need 9 of them. They're drone prop motors. Not direct drive, though; two stages of reduction, using toothed belts.
This is a spin-off of a research competition happening at the MPI for Intelligent Systems, where teams get hundreds of hours of training time on a real robot to learn dexterity.
There are still two weeks to submit simulated results for phase 1!
What is interesting about this initiative is that the same components can be used on different platforms. The project repo [1] has information on these configurations:
* Quadruped 8dof
* Quadruped 12dof
* Biped 3dof
* TriFinger (the link above)
I'd love to build the actuator module from this project one day!
[1] https://store.tmotor.com/goods.php?id=438