How to increase the torque of a robotic arm ?

If large torque and high speed are required, a brushless motor must be used instead of a servo motor. How to put the ESC and battery in such a small space?

robot arm

In order to increase the torque, this application must use a low-KV high-voltage hall motor (similar to a pan/tilt motor), and the ESC needs to have: small size/high voltage (above 6S)/hall sensor/FOC/support UART communication, these five Functions.

The common model aircraft and drone ESCs on the market can only meet two or three!