Combining an electro mechanical joints

Hello everyone, i need help at this:
I want to make a joint like in the human arm and make it work in certain behavior.
so, i know i need a stepper motor controlled by microchip like PIC16F1825 and attached to the mechanical joint. but what i need to know: 1- what kind of motor to use (how much KG can raise, the price, ...etc ) 2- what kind of joint 3- how should they attached to each other
Thanks a lot to every one helped me...
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