Exercise machine with pancake motor

An exercise machine comprising:

• a pancake motor, wherein the pancake motor is in an out-runner configuration;
• a torque controller coupled to the pancake motor;
• a spool coupled to the pancake motor, and a cable wound about the spool;
• an arm to position the cable, wherein the arm comprises:
• 1) an arm slider to translate the arm and guide the cable along a rail associated with the arm, 2) a vertical pivot locking mechanism to position and keep the arm in a fixed vertical pivoted position, and 3) a horizontal pivot mechanism for the rail;
• an actuator coupled to the cable at an end of the arm;
• a high resolution encoder coupled to the pancake motor, wherein the high resolution encoder determines motor position of the pancake motor;
• and
• a second encoder with resolution lower than a high resolution encoder, wherein the second encoder determines position of the actuator.