Systems and methods for actuation of a robotic manipulator

A joint for a robotic arm, the joint comprising:

• an actuator configured to rotate an output of the actuator about a first axis;
• a first gear fixedly coupled to the output of the actuator and configured to rotate about the first axis;
• a second gear operatively coupled to the first gear, wherein rotation of the first gear about the first axis rotates the second gear about a second axis offset from the first axis to drive the output of the actuator, wherein:
• the second gear comprises a through-bore passing from a first side of the second gear to a second side of the second gear opposite the first side, the through-bore configured to enable passage of one or more connections from the first side to the second side of the second gear;
• an encoder coupled to an internal surface of the second gear and configured to sense an angular position of the second gear;
• and
• an output bearing coupled to the second gear, the output bearing comprising a cross roller bearing or an axial contact bearing.