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They are worth serious consideration when the application has: Small frame size Moderate torque Constant or predictable load Near-zero unloaded backlash requirement Slow or moderate dynamic response Weight-sensitive design Compact precision positioning need Limited space for reduction mechanism Typical examples may include: Small robot wrist joints Optical positioning systems Laboratory automation Camera gimbals Semiconductor positioning stages Compact medical or inspection equipment Small precision rotary axes In these applications, the zero-backlash and compact structure of a harmonic drive can be more important than maximum stiffness or efficiency