The first step if you want a control feedback is how are you going to sense (speed, position, Force, etc). So, if you want to control the Force applied then you must find a way to measure (sense) this force.
There are direct and indirect methods.
Direct may be a 'force' sensor (like a scale to measure weight) and can be done with various methods.
In-direct would be measuring some factor that is driving the actuator. Like current for a DC motor or cylinder pressure for hydraulics.
Your team has a lot of research to do before you can make any decision. Has your team an adviser to discuss options and budget?