PGS90 77:1
| Gearbox Orientation | Inline |
| Gearbox Type | Planetary |
| Gearbox Ratio | 77:1 |
| Gear Material | Composite/steel |
| Gearbox Stages | 3 |
| Gearbox Efficiency | 73% |
| Gearbox Axial Load | 200 N |
| Gearbox Radial Load | 1000 N |
| Gearbox Continuous Torque | 150.0 Nm |
| Gearbox Intermittent Torque | 225.0 Nm |
| Backlash | 45 arc.min |
| Weight (kg) | 2.8 |