Yeah, safety is an important aspect. The good news is that the servos are not that powerful. Peaking at 3 Nm, with a moment arm of 0.2 m, you get 15 N of force, which is basically equivalent to the weight of three 500mL water bottles. This force might cause some scratches but should not lead to serious injuries.

Initially, I was planning to launch a product using Piper Arms (much more powerful than the current product). But after testing them, I realized they could cause serious injuries if not used properly. So I canceled that version. I still have 8 of them sitting in my office.