Fa'aitiitiga
O le fa'aogaina o le galu (lea e ta'ua o le harmonic gearing) o se ituaiga masini masini e fa'aogaina ai se laina fe'avea'i ma nifo i fafo, lea e fa'aleagaina e se polo elliptical feliuliua'i e fa'aoga ai i totonu o nifo o se laina pito i fafo.Vaega autu o le faʻaitiitiga faʻamalieina: Wave Generator, Flexspline ma Circular Spline.Ua faʻaaogaina lelei la matou faʻaitiitiga harmonic i vaega o auaunaga ma masini faʻapisinisi.
