We present theoretical and experimental results pertaining the development and the control of a two-link robotic arm with remotized actuation via rolling diaphragm hydrostatic transmissions. We develop a dynamical model capturing the essential dynamics of the developed transmission/robot ensemble and propose a control strategy consisting in two nested loops, the inner one performing high-bandwidth joint torque regulation and the outer one implementing various types of compliance mechanisms for effective human-robot interactions. An extensive experimental campaign testing both the low-level torque controller and the high-level compliance controller confirms the effectiveness of the proposed hardware-software remotization architecture.