The present invention relates to an actuator assembly (30) for rotary actuation around a pivot axis, comprising: a motor (19); a drive train with a capstan drive comprising a drive pulley (2) and a main pulley (1) and transmission means (3) for interconnecting the pulleys, and comprising an absolute torque sensor device (12); wherein the transmission means (3) are provided by at least one cable transmitting the drive pulley's pivoting motion to the main pulley (1) by tensile forces applied to the lateral area of the main pulley, and wherein the absolute torque sensor device (12) exhibits at least one force sensor (12.2) coupled to the capstan drive, for absolute torque measurement via force measurement. Further, the present invention also relates to a method for exerting a respective rotary actuation around a pivot axis, as well as to use of such an actuator assembly for actuating robotic kinematics.
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