An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints - Schuller, Robert; Reinecke, Jens; Maurenbrecher, Henry; Ott, Christian; Albu-Schaeffer, Alin; Deutschmann, Bastian; Buettner, Fred; Heim, Jens; Benkert, Frank; Glueck, Stefan (Frontiers in Robotics and AI, 2024)