The harmonic gearbox comprises three main components. The first one is the wave generator, the component typically connected to the motor, consisting of an elliptical ring and a flexible bearing. During rotation, it interferes with the second component, the flexible gear, which consists of a cup-shaped deformable steel element. This element has a radial toothing that engages in the rigid gear, which in turn has a toothing inside the gear, typically with two more teeth than the flexible gear. The high degree of integration allows its use in robotic applications, aerospace, medical equipment, and all industrial applications where space, precision, and a high degree of integration are relevant.