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Where are the robot assistants we were promised? For all the space that robots have occupied in the popular imagination for the last hundred years—and although the number of real-world automatons has been growing for decades—most people's interactions with them remain limited to a hands-free vacuum or a child's smart toy.   A strain wave gear converts the fast, low-torque rotation of an engine into slow, precise, forceful motion. As the oblong wave generator at the center spins, it deforms the flexspline around it, shown in red, which engages with the teeth of a fixed outer spline. The interaction causes...

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