Abstract: A harmonic drive includes a circular spline, a cup-shaped flex spline meshed with the circular spline, a wave generator including an bearing mounted in the cup-shaped flex spline, an elliptical wheel mounted in the bearing and a coupling connected to the elliptical wheel so that an oil storage chamber is defined between the wave generator and the cup-shaped flex spline, and one or multiple stirrers connected to the coupling of the wave generator and drivable by the coupling to carry the storage lubricating oil out of the oil storage chamber for lubricating the bearing of the wave generator and the meshed tooth surfaces between the circular spline and the cup-shaped flex spline.

Abstract: A motor-incorporating reducer includes a main body, a rotational actuating member, a flex spline, and an circular spline. The rotational actuating member has a rotating shaft, a wave generator, and a motor. The rotating shaft passes through the main body, and the elliptic wheel is integratedly formed around the rotating shaft. The motor has a magnetic motor rotator that is integratedly formed on the rotating shaft. With the integrated structure, the rotating shaft, the elliptic wheel, and the motor rotator can stably perform rotation, thereby eliminating the risk that the three, when formed separated and assembled, would become non-coaxial due to the resultant tolerance after assembly and have eccentric rotation, and in turn preventing adverse effects on the drive's output torque due to non-coaxial rotation and extending the drive's service life.

Abstract: The present invention includes a mold and a method for producing an engineered tissue construct comprising: providing a mold comprising one or more openings, the mold being at least partially elastic and the one or more openings having a pre-determined shape; and extruding through the one or more openings in the mold a biocompatible gel-forming macromer to form a hydrogel using a mechanical force sufficient to extrude the biocompatible gel-forming macromer.