According to one aspect, a drive system includes a support structure, a first motor, a second motor, an output element, a first transmission, a second transmission, and an elastic element. The first motor comprises a first stator and a first rotor, the first stator of the first motor being coupled to the support structure. The second motor comprises a second stator and a second rotor, the second stator of the second motor being coupled to the support structure. The first transmission is coupled between the first rotor of the first motor and the output element. The second transmission is coupled between the second rotor of the second motor and the output element. The elastic element is coupled between the first rotor of the first motor and the second rotor of the second motor.