[ASME ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - San Diego, California, USA (August 30–September 2, 2009)] Volume 6: ASME Power Transmission and Gearing Conference; 3rd International Conference on Micro- and Nanosystems; 11th International Conference on Advanced Vehicle and Tire Technologies - Torsional Rigidity of a Cycloid Drive Considering Finite Bearing and Hertz Contact Stiffness