Per-Actuator Cryptographic Signing of Physical Actions.

Embodied robots sign every motion under per-actuator hardware key. 25 claims.

Each physical actuator on an embodied sovereign-AI robot (joint motor, end-effector, gripper, drive wheel) carries its own hardware-attestation element holding a post-quantum signing keypair under operator-held custody. Every commanded movement (joint-angle target, force vector, gripper aperture, drive-wheel torque) is packaged as a typed actuator command, signed at the moment of dispatch under a chained nonce, and recorded in a per-actuator-per-tick decision-lineage ledger that ties the motion to a specific signed high-level intent. Means an independent verifier can prove offline who authorised any joint motion. Filed 4 May 2026 as GB2610416.6.