A compliant safe joint and manufacturing method thereof. The compliant safe joint includes an input axis circumferentially connected to a motor shaft of a DC motor; a movable bridge circumferentially mounted on the input axis and slidable along a axial direction of the input axis; multiple bearings, each of the multiple bearings having an inner ring fixed to the movable bridge and having an outer ring; a stationary bridge rotatably mounted on the movable bridge and having a helicoid surface, the outer ring of each bearing being movable along the helicoid surface; and a flexible component connected to the movable bridge. The stationary bridge rotates about the input axis when a torque which exceeds a predetermined threshold is applied to the stationary bridge by the motor shaft, such that the bearings move with respect to the helicoid surface to cause the flexible component to be compressed and extended through the movable bridge.