# US 12,472,623 (USPTO)

Drive unit for a robot joint comprising a housing with drive shaft and drive motor, a strain wave gear mechanism (harmonic drive) with wave generator, flexible ring, and toothed ring connected to output shaft, and multiple sensors detecting angular position of drive shaft, output shaft, and expansion of the flexible ring.

## Key facts

- Jurisdiction: uspto
- Status: granted
- Number: US 12,472,623
- Filing date: 2023-07-11
- Grant date: 2025-11-18
- Verification posture: verified

## Parties (1)

- **assignee**: [Schaeffler Group](/companies/schaeffler.md) (verified)

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