"The objective of this project is to design and build a harmonic drive able to work under cryogenic conditions, with an extremely low friction, long life time and no wear.This harmonic drive will achieve a great reduction ratio, being able to function at cryogenic temperatures and based on a non-contact interaction between magnets, soft magnetic materials and superconductors. The drive will not use any lubrication and will be free of wearing. It is based on magnetic teeth. This project includes significative technological improvements: 1. The use of superconductors as diamagnetic spacers between the teeth. 2. The use of magnetic-superconductor bearings very suitable for cryogenic conditions. 3. The use of the last generation of magnetic and superconducting materials. 4. The use of thin film techniques to make a set of microteeth and to enhance the capability for torque transmission with respect to the total volume and weight of the drive.The consortium has 7 partners from 5 countries, inlcuding Universities, Research Centers and SMEs with a good complementarity and able to make a prototype to test the technology, to validate a Technology Readiness Level TRL5 and to exploit the results.The main goal will be to build a prototype and test a technology that fulfils the critical technology need as it is expressed by the ""EC-ESA-EDA LIST OF URGENT ACTIONS FOR 2009, Join Task Force Final Report"""