I haven't heard of any robo-signer being forced to sign notices under anything I would call "duress"... except if you call having to work in a cubicle in a soul-sucking job as a corporate peon "duress"!

As far as signers signing without lawful capacity, yes that has allegedly occurred, but is that really a criminal matter if the entity that was being signed for raises no objection?  If a man signs a check with his wife's name, is it a criminal matter even if the wife does not object?