
The basic concept of strain wave gearing was introduced by C.W. Musser in a 1957 patent while he was an advisor at United Shoe Machinery Corp . It was first used successfully in 1960 by USM Co. and later by Hasegawa Gear Works under license of USM. Later, Hasegawa Gear Work became Harmonic Drive Systems located in Japan and USM Co. Harmonic Drive division became Harmonic Drive Technologies.
https://en.wikipedia.org/wiki/Strain_wave_gearing
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