I've never understood 'Zap Brannigan/Futurama shoulders' popularised in 50s sci-fi, are they supposed to be some form of advanced articulation?
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I always figured that the 50s stuff was derivatives of the general look of the robot from Metropolis in 1927:

My favorite costumes are Quark's. Andrew Robinson who played Garak said that some of his costumes seemed to be made out of carpet and really uncomfortable. I think they looked great though.