Jeremiah answers, a littlebit proud of his speed.
"My plan is to leave the current motors as they are, so by simply disabling the system I plan to add will restore any capabilities that may be lost, although I don't think any will be lost.
Basically, my plan is to mount a ring of coils, which are all oriented in the same direction, around the joint. The coils will be connected to a controller for high AC voltages and currents. When a current spike is sent through a coil, it'll repell the joint's magnetic feedback, 'kicking' it into motion. As the generated forces and heat are also relatively large, the system should only activate when a new movement begins. As the metal of the joint itself will be the armature, the coils ans their controller will be the only additional weight.
As for the exact measurements, I need the data about what the NCM can give us and how well induction works in which parts of the joint.
Also, in case the ring of coils is damaged, the coils, which are still intact, will do their job fine, unlike most motors, although the directions of the 'kick' will be more limited."
After a short pause to finally breathe in again: "Is this acceptable?"