After strengthening the Circular Spline, I found it helped prevent skipping, but it was not the solution as the skipping still persists, now just louder and more violently. After some research I am now thinking that it may also have to do with lack of tooth contact. I will be optimizing the tooth profiles and Wave Generator to see if the results change.

My plan before was to add steel around the circular spline to completely stop the flexing. I may still do this, but at this time I have no way to mill steel on my own and I would need to order custom cut pieces. Doing this contradicts the end goal of my project, so I will put a pause on this until either I obtain the tools to make these pieces or I find an accessible piece for purchase online.  

It should not take long to change the Tooth Profiles and wave generator, hoping to get the next tests done this by tomorrow.