Agility Robotics, Inc.

Jim Coy

Andrew Abate

A strain-wave gear assembly in accordance with at least some embodiments of the present technology includes a circular spline, a flexspline, and a wave generator operably associated with one another. Relative rotation between the flexspline and the wave generator causes relative rotation between the circular spline and the flexspline about an axis. The strain-wave gear assembly further includes a first bridge circuit configured to generate a first electrical signal corresponding to strain at a first portion of flexspline. The strain-wave gear assembly also includes a second bridge circuit configured to generate a second electrical signal corresponding to strain at a second portion of flexspline circumferentially offset from the first portion of the flexspline about the axis. The first bridge circuit includes a first resistor at the first portion of the flexspline. Similarly, the second bridge circuit includes a second resistor at the second portion of the flexspline.

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Albany, OR, United States of America

Jim Coy