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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