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...