The New Design takes a different approach the the issues from before:

Results of First Test

• Wave Generator has too much friction making it quite stiff
• Embedded 5:1 Planetary Gear does not run smooth, could be fixed with lubricant
• FlexSpline is not Flexible enough, I will be thinning out the walls in the next version
• Wave Generator Slips deeper into the FlexSpline, I plan to add a ridge in the FlexSpline to fix this
• PLA threads in the poles that run down the center do not work at all. Not sure how to secure these yet, possible threaded inserts or one long bolt down the center.
• Other than that this version feels much better than the last.