Hypocycloid Robot Arm Joint

So I recently saw a blog post on hypocycloid gears on the Reprap Blog ( http://fabricationsofthemind.com/2010/07/09/extruder-design-1-printable-1001-hypocycloidal-gearbox/ ) .

Some really good info on them can be found here:

http://www.zincland.com/hypocycloid/

Also do a search on youtube for hypocycloid reducer. Lots of vids.

They seem to be perfect for a robot arm joint. I want to make a robot arm. I started to put one together in OpenSCAD. I have way more than I'm uploading