I'm a complete beginner in robotics other than FIRST competitions at my school. I wanted to make a robotic arm that works by a person physically moving the end-effector in 3D space and the robot staying in place even when the person removes their hand. Similar to https://youtu.be/RLxIg69GWqA?t=465. The robot arm would also apply force-feedback when it gets close to some predefined threshold.
If I wanted to use servos (because I really need the angle data for force feedback), I would need a certain gear ratio for torque (there is no payload to the end-effector; the only loads would be for all other axes' connections), and this would make it hard for someone to move the end-effector fast and efficiently.
To offset this problem, I have found online that I can use force control on the end-effector. The problem with this is that most 6-axis force/torque sensors are seriously expensive and way too industrial for my needs. I also have no idea how to implement this kind of sensor to the arm.
Are there any simpler ways to accomplish the task above? Any changes/recommendations to how I'm going about this? I plan for this to be a 5 DoF arm with a 16" reach and, as i said before, no end-effector payload.