An experimental study of the sensorized strain wave gear RT1-T and its capabilities for torque control in robotic joints. - Robert Schuller; Jens Reinecke; Henry Maurenbrecher; Christian Ott 001; Alin Albu-Schäffer; Bastian Deutschmann; Fred Buettner; Jens Heim; Frank Benkert; Stefan Glueck (Frontiers Robotics AI, 2024)