Roboy used dyneema tendons if I recall correctly. Fluidic actuators is another option. IMO, additional sensors and sensor fusion are necessary but this will raise the costs and demand to control software significantly. We are researching humanoid robots for quite some decades now and these problems are easily underestimated (similarly to autonomous driving). I doubt we'll see them in our houses very soon.
The issue is not that these problems are easily underestimated, but that the researchers are very proficient at repeating the same mistakes over and over again.
