respectively the case module also includes a slotted region 232 opposite the ear module 44 which accommodates the passage of electrical wires the case model 46 includes an integral radial flange 234 which extends inward to provide mounting surfaces at the center of this flange there is provided an aperature which is concentric with the axis of rotation 40 of the pitch joint 8 the aperature is adapted to accommodate a motor mount plate 238 the motor mount plate 238 includes an annular array of aperatures suitable to accommodate bolts 240 which engage threaded holes in the case module interior flange 234 the case module interior flange 234 also provides on its drive side a surface 242 the rigid spline 244 of the harmonic drive assembly is rigidly mounted to the surface 242 by bolts 246 which extend through the gear to engage threaded holes in the case module interior flange 234 the motor mount plate 238 includes a central aperature suitable to accommodate passage of the motor drive shaft 248 and a suitable seal 250 the motor mount plate 238 includes a circular recess 252 on its motor side which is provided to accommodate the centering collar 254 of the motor 256 the motor mount plate 238 also provides recessed aperatures through which appropriate screws or bolts 258 can be passed to rigidly mount the drive motor 256 to the motor mount plate 238 mounted on the motor shaft 248 is a wave generator 260 a part of the harmonic drive assembly in operation an electric current is supplied.