Check out opensource actuator for robots.
Opentorque actuator
https://www.gabrael.io/new-page
https://github.com/G-Levine/OpenTorque-Actuator
In the context of the torques in the article, a nylon sun gear in the gearbox feels optimistic.
In the context of the torques in the article, a nylon sun gear in the gearbox feels optimistic.