Perhaps, although Harmonic Drive has previously licensed SRI's Abacus tech from the same inventor (Alexander Kernbaum)[0]. Given the two groups are already partners in commercialization, it wouldn't be a surprise if they extend their collaboration to include this design. In any event, it will be interesting to see what happens -- especially if it remains independent of Harmonic Drive, to your point.

[0] https://spectrum.ieee.org/automaton/robotics/robotics-hardwa...