PMSM Joint Actuator · serves as: Joint Actuation, Torque Transmission, Closed-Loop Drive Control. · compatible with: Humanoid, Biped, Legged Robot, Manipulator.
Which group Human-Friendly Actuator Platform (HIGEN HFA) belongs to and how it is built
A PMSM (Permanent Magnet Synchronous Motor) joint actuator is an integrated drive module that uses a permanent magnet synchronous motor to provide precise position, velocity, and torque control at robot joints. It offers high power density, low losses, and deterministic torque response, making it a popular choice in robotic manipulators, exoskeletons, and humanoid robots. The unit typically integrates an encoder, gearbox, and motor controller into a single compact assembly.
Basic physical properties of Human-Friendly Actuator Platform (HIGEN HFA) — dimensions, weight and materials
Human-Friendly Actuator (HFA) is a platform of integrated joint actuators developed by the South Korean company HIGEN RNM for humanoid robots and cobots. The concept combines hardware with “embodied intelligence”: the joint itself senses an impact and immediately yields (local reflex <100 ms), without waiting for a decision from central AI.
Compliance is achieved without costly external torque sensors — dual 24-bit encoders estimate friction and external forces (sensorless proprioception). In an accidental collision with a human, the joint lowers stiffness and absorbs the impact energy.
The drive core uses frameless axial-flux pancake motors (AFPM, SSSR topology) for high-load joints and a slim inner-rotor motor (RFPM) for the wrist and neck. The standard A-series comprises seven models with nominal torque of 20–116 N·m and peak torque of 60–348 N·m, powered at 48 V DC, with compound planetary gearing and a C-series drive supporting RS-485, CAN and EtherCAT.
