Thanks Roel, that is what i was looking for. 

Andreas, this thing is badass!  Congrats, I love how the little wrist failed to lift that weight but corrected itself when the weight hit the table.  It almost looks human.  What can be done to make the motion smoother?  It seems a bit jumpy, might be because of manual control and not smoothly accelerating.  I keep thinking it would be great to use these for manufacturing operations where you want to repeatably apply a bead of glue or lay down a form-in-place gasket, but the hand would have to be a little more steady at the end.

Thanks. The shaky movement is caused mainly by my software I'm sending only position values to to controller so it always stops and accelerate. I'm sure if we drive it like the 3D-printers in a predefined path it will run very smoothly. 

A lot of shaking was the to slack belt. I fixed it, it's now much better. And the other problem is the base "bearing" it has so much play and the hole arm shakes. I post a video about this soon. 

Thanks for all your work on this project, it is Fantastic. I had a few questions. i am starting a build to make a version of this arm and was looking for parts. did you make the encoder yourself, cant find one like that online. also, what motor drivers are you using? Are all the news versions on this site for the 3D printed parts. i need to start printing ASAP. Thanks

I believe Andreas uses encoders from ams.com, the AS5045B he mentions in one of his older posts (on the orange arm). Schematics can be found in the parts list here http://www.thingiverse.com/thing:639329/#files