AUTHOR=Schuller Robert , Reinecke Jens , Maurenbrecher Henry , Ott Christian , Albu-Schaeffer Alin , Deutschmann Bastian , Buettner Fred , Heim Jens , Benkert Frank , Glueck Stefan TITLE=An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints JOURNAL=Frontiers in Robotics and AI VOLUME=11 YEAR=2024 URL=https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1416360 DOI=10.3389/frobt.2024.1416360 ISSN=2296-9144