A Highly Backdrivable Robotic Arm using Low Friction and High Accuracy Cycloidal Geared Motors: ALFHA. - Atsushi Kakogawa; Yoshiki Mori; Toshiki Fukasawa; Naoaki Kurimoto; Shinya Tokunaga; Takashi Tokuda; Akira Yamamoto; Sadao Kawamura (SII, 2022)