Even if you manage to build an actuator that can grab a piece quickly but can’t break anything, the required rapid movement of the arm still can break things.
Seems very human proof and also exciting to watch in action.
For example: https://youtu.be/JhoLEbUOYlk
Cheap chess playing devices like this have been available on the consumer market at least since the 80s.
My parents got me one from Toys R Us about 40 years ago.
The problem is that such devices are not as much of a spectacle as a big robot arm that moves by itself.