4Canudas de Wit C, Ohson H, Ashore K J, et al. A new model for control of systenm with friction[ J]. IEEE Transactions on Automarie Control, 1995,40(3) :419 -425
5Tjahjowidodo T, et al. Modeling and identification of nonlinear torsional stiffness in harmonic drive[ A]. Proceedings of the 5th Euromech Nonlinear Dynamics Conference [ C ], Eindhoven, Netherlands: 2005:1809 - 1816
6Harmonic Drive LCC. SHF and SHG component sets housed units [ EB ]. www. hannonicdrive.net/media/support/catalogs/pdf/shf - shg.pdf, 2008-04-06