An electrically-powered recirculating-ball steering gear assembly for steering a vehicle, said assembly comprising; a worm shaft extending along an axis and including a worm groove extending helically to establish a worm section, said worm shaft having a first end section and a second end section extending from said worm section, a first drive system in rotatable driving engagement with said first end section of said worm shaft for steering the vehicle by rotating said worm shaft, a second drive system for providing a steering force in response to a secondary steering input, said second drive system being in rotatable driving engagement with said second end section of said worm shaft for redundantly steering the vehicle by rotating said worm shaft, said worm section of said worm shaft being disposed between said first drive system disposed on said first end section of said worm shaft and said second drive system disposed on said second end section of said worm shaft; characterized by an input shaft responsive to rotation of a steering wheel extending along said axis from said second end section of said worm shaft, a lost motion connection between said input shaft and said worm shaft for allowing relative rotational lost motion between said input shaft and said worm shaft independent of said drive systems (98, 104); said worm shaft defining a worm bore extending along said axis within said second end section and being closed at a worm end of said second end section, said input shaft defining an input bore extending along said axis and being closed at an input end of said input shaft, a torsion bar extending axially within said input bore and said worm bore between a first torsion end and a second torsion end, the torsion bar interconnecting said input shaft and said worm shaft for biasing against the relative lost motion, a first pin connecting said first torsion end of said torsion bar to said input shaft, a second pin connecting said second torsion end of said torsion bar to said second end section of said worm shaft, and a torque sensor disposed about said input shaft for measuring the torque in said input shaft and communicating the torque to an electronic control unit, wherein one of said drive systems (98, 104) includes a motor (102, 106) for rotatably driving said worm shaft, and a worm reducer including a worm gear and a spur gear connecting said motor (102, 106) to said worm shaft for rotatably driving said worm shaft. a worm shaft extending along an axis and including a worm groove extending helically to establish a worm section, said worm shaft having a first end section and a second end section extending from said worm section, a first drive system in rotatable driving engagement with said first end section of said worm shaft for steering the vehicle by rotating said worm shaft, a second drive system for providing a steering force in response to a secondary steering input, said second drive system being in rotatable driving engagement with said second end section of said worm shaft for redundantly steering the vehicle by rotating said worm shaft, said worm section of said worm shaft being disposed between said first drive system disposed on said first end section of said worm shaft and said second drive system disposed on said second end section of said worm shaft; characterized by an input shaft responsive to rotation of a steering wheel extending along said axis from said second end section of said worm shaft, a lost motion connection between said input shaft and said worm shaft for allowing relative rotational lost motion between said input shaft and said worm shaft independent of said drive systems (98, 104); said worm shaft defining a worm bore extending along said axis within said second end section and being closed at a worm end of said second end section, said input shaft defining an input bore extending along said axis and being closed at an input end of said input shaft, a torsion bar extending axially within said input bore and said worm bore between a first torsion end and a second torsion end, the torsion bar interconnecting said input shaft and said worm shaft for biasing against the relative lost motion, a first pin connecting said first torsion end of said torsion bar to said input shaft, a second pin connecting said second torsion end of said torsion bar to said second end section of said worm shaft, and a torque sensor disposed about said input shaft for measuring the torque in said input shaft and communicating the torque to an electronic control unit, wherein one of said drive systems (98, 104) includes a motor (102, 106) for rotatably driving said worm shaft, and a worm reducer including a worm gear and a spur gear connecting said motor (102, 106) to said worm shaft for rotatably driving said worm shaft.