I think I know of a good book to suggest you that most likely have all the answers to your questions. Take a look at the book: "Communication systems", Simon Haykin, John Wiley & Sons, 1993, 3rd edition.
I'm trying to design a robot which is similar to that of a human leg. The leg of the robot must be able to lift at least a ton and the knee of the robot must be able to bend to the same range than that of a human leg. Unfortunately I don't have much experience in mecanical engineering.
I tried...