A DC motor needed for an exoskeleton arm

We’re working on our final year project to build an exoskeleton arm for rehabilitation purpose. A DC motor is used to control the arm’s position. The problem we have is, the DC motor we bought isn’t sufficient to lift the arm. I need to know the power of a DC motor that can be used to lift a torque.

Also, how much torque is need to lift the arm with only gravitational force acting on it?

P.S. thank you for taking the time to reply

submitted by /u/yeohap
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