Han's Robot Humanoid Joint Module Review: Specs and Uses of the Harmonic Humanoid Joint Actuators

Han's Robot sells the joint modules behind its cobots as standard actuators for humanoid robots. The manufacturer does not publish a price. This review covers its specifications, features and uses.

Quick Verdict

Each module integrates motor, harmonic reducer, dual magnetic encoders and drive in a hollow, compact unit. Six sizes run from the 0.39 kg size 11 with 6 Nm rated and 19 Nm peak torque to the 5.8 kg size 32 with 178 Nm rated and 459 Nm peak. All run on 48 V with EtherCAT, harmonic repeatability within 30 arc seconds and encoders up to 19-bit; torque sensors are optional and sizes 20 to 32 include brakes. Han's claims peak torque density above 50 Nm/kg and more than 20 years of joint development experience.

Han's Robot Humanoid Joint Module at a Glance

• Sizes: 6 (11 to 32)

• Peak torque: 19 to 459 Nm

• Weight: 0.39 to 5.8 kg

• Reducer: Harmonic, ≤30 arcsec

• Bus: EtherCAT, 48 V

• Price: on request

Han's Robot Humanoid Joint Module Technical Specifications

The table below lists what the manufacturer states.

Size	OD x length	Weight	Rated / peak torque	Max speed	Brake
11	55 x 65 mm	0.39 kg	6 / 19 Nm	30 rpm	No
14	62 x 75 mm	0.685 kg	10 / 35 Nm	30 rpm	No
17	72 x 85 mm	1.07 kg	33 / 70 Nm	30 rpm	No
20	84 x 98 mm	1.72 kg	59 / 107 Nm	30 rpm	Yes
25	100 x 109 mm	2.53 kg	87 / 204 Nm	30 rpm	Yes
32	132 x 148 mm	5.8 kg	178 / 459 Nm	20 rpm	Yes

The page claims peak torque density above 50 Nm/kg; size 11 works out to about 49 Nm/kg from the listed figures.

Design and Build Quality

Fully integrated motor, reducer, encoder and drive with a large hollow centre for cabling.

Software and Integration

EtherCAT

Standard communication for all sizes.

Force Control

Optional torque sensor with Han's force-control algorithms.

Han's Robot Humanoid Joint Module Applications and Use Cases

Humanoid Robots

Arm, leg and torso joints.

Cobots

Compact arm joints.

Research Platforms

Integrated actuators for custom robots.

Han's Robot Humanoid Joint Module Price and Value

Han's Robot does not publish a price for the Han's Robot Humanoid Joint Module; it is quoted on request.

For the company behind the product, read the Han's Robot (Huayan Robotics) Company Profile: History, Products and Hong Kong Listing.

Pros and Cons

Pros

• Six sizes

• High torque density

• Integrated drive

• Hollow shaft

Cons

• Low output speed (20 to 30 rpm)

• Torque sensor optional

• No published price

Who Should Buy the Han's Robot Humanoid Joint Module?

It fits humanoid and cobot developers looking for ready-made integrated joints.

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Han's Robot Humanoid Joint Module FAQ

How much does the Han's Robot Humanoid Joint Module cost?

Han's Robot does not publish a price for the Han's Robot Humanoid Joint Module; it is quoted on request.

What is the Han's humanoid joint module?

An integrated actuator for humanoid and collaborative robots.

How many sizes are there?

Six: 11, 14, 17, 20, 25 and 32.

What is the highest peak torque?

459 Nm on size 32.

What reducer is used?

A harmonic reducer.

What communication is used?

EtherCAT at 48 V.

Do they have brakes?

Sizes 20, 25 and 32 do.

Is there a torque sensor?

Optional.

Specifications are based on manufacturer information and may change.