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A company that understands the changes in the world and challenges the future through technological innovation.
BE THE BEST, BE THE FIRST
Safer & More Compliant Next to Humans,
HIGEN Human-Friendly Actuator Platform
Robots do not just need a smart brain. They require a wise body that reacts dynamically alongside humans. HIGEN HFA provides Level 3 local edge intelligence (<100ms) and proprioceptive force control.
ROBOT ACTUATORS
Next-gen robotics full-body actuation platform HFA series
ROBOT ACTUATORS
Based on common 3K Compound Gear and Smart Drive platforms, we deliver optimal motor architectures tailored to torque, speed, and packaging requirements.
01. Robots Need More Than Just a Smart Brain
Even if central AI processes giant VLM models, physical disturbances occur in microseconds. The joint hardware itself must yield dynamically.
Intelligence trained in simulation is optimized for ideal conditions.
Reality is full of sensor noise, latency, friction, and environmental shocks.
Robot safety and natural motion begin from immediate body reflexes.
The Simulation Was Perfect.
Reality Was Not.
Motions that were perfect in virtual simulation collapse under real-world friction and payload fluctuations. HFA actively compensates for dynamic errors inside the joint.
Parameter Mismatch
Discrepancy between simulated models & physical reality
In simulation, mass, inertia, and torque remain unrealistically constant.
Physical parameter shifts due to component wear, assembly tolerance, and heat.
Sensor Noise & Delay
Sensor errors, latency & incomplete data
Simulated data enjoys zero latency and zero measurement noise.
Real-world communication latency and noise destabilize feedback loops.
Actuator Nonlinearity
Distortion from friction, heat & vibration
Motor output torque and gear transmission maintain ideal linearity.
Nonlinear physical realities such as friction, cogging torque, and backlash distort motion.
Environmental Complexity
Unpredictable variables like impacts & humans
Idealized environments with flat ground and predefined objects.
Unpredictable contacts, collisions, and terrain requiring <100ms response.
The Answer Was Already
in the Human Body
Just as a human hand recoils from heat without waiting for brain decisions, HFA joints sense shock and immediately yield (<100ms).
HIGEN Distributes Intelligence Across Three Layers
Dual encoders compare the positional displacement between the motor shaft and output shaft, while a current sensor measures changes in applied current. This data is fused through holding-torque compensation and a disturbance observer to estimate the direction and magnitude of external force without a dedicated torque sensor.
High-Level Control & Global Planning
Full-body motion and path planning, static gravity compensation
Efficient Communication Protocol
Bandwidth reduced to 20–50Hz, delivering trajectory goals
Actuator-Embedded Edge AI & Physical Control (<100ms)
Torque transparency, real-time shock detection, and impedance yielding at contact.
3 Core Tech. 6 HFA Models.
5 high-load joints feature Axial Flux Pancake Motors (AFPM), while 1 slim wrist/neck joint features Inner Rotor Motor (RFPM) for full-body optimization.
HFA100A-300P51
A 100Nm-class axial-flux HFA actuator integrating an ultra-high-density AFPM structure with a 3K compound gear for high-load upper-body joints.
Full-Body 6-Models Spec Matrix
5 AFPM + 1 RFPMComparison of the 6 standard actuator models and motor topology for full-body humanoid drive
| Model & Motor Topology (Highlighted) | Joint Position | Nominal Tq | Peak Tq | Diameter / Weight | Drive Mapping |
|---|---|---|---|---|---|
|
HFA100A-300P51
★ AFPM (Axial Flux Pancake)
|
Shoulder P/Y (Shoulder Pitch/Yaw) | 100 Nm | 300 Nm | Ø108 x L74.1 mm / 2.16kg | C_0750 |
|
HFA90A-165P51
★ AFPM (Axial Flux Pancake)
|
Shoulder R, Elbow, Hip Yaw | 55 Nm | 165 Nm | Ø97 x L68.4 mm / 1.5kg | C_0600 |
|
HFA60I-60P51
★ RFPM (Inner Rotor Slim)
|
Wrist, Neck | 20 Nm | 60 Nm | Ø62 x L68.65 mm / 0.56kg | C_0300 |
|
HFA120A-255P22
★ AFPM (Axial Flux Pancake)
|
Waist P/R (Waist Pitch/Roll) | 85 Nm | 255 Nm | Ø128 x L80.0 mm / 2.6kg | C_1500 |
|
HFA150A-348P22
★ AFPM (Axial Flux Pancake)
|
Hip Pitch, Knee | 116 Nm | 348 Nm | Ø150 x L100.0 mm / 3kg | C_2000 |
|
HFA90A-102P30
★ AFPM (Axial Flux Pancake)
|
Hip R/Y, Ankle | 34 Nm | 102 Nm | Ø97 x L68.4 mm / 1.5kg | C_0600 |
The Brain Plans. The Joint Responds.
HIGEN Smart Driver (Drive+) is not simply a device that spins a motor — it fully integrates sensing, estimation, compensation, and real-time control inside the joint, a local intelligence platform that lets the joint react instantly to external force and impact without waiting for high-level AI judgment.
Conventional Motor Drive vs. HIGEN Smart Driver
| Comparison Criteria | Conventional Motor Drive | HIGEN Smart Driver (Drive+) |
|---|---|---|
| Control Objective | Execute position/velocity/current commands | Real-time joint state & disturbance awareness |
| Sensor Feedback | Single motor encoder feedback | Dual 24-bit Encoder + IMU sensor fusion |
| Control Processing | Dependent on central high-level controller | Local edge control inside joint (<100ms) |
| Collision Response | Stop after collision or delayed error recovery | Instant collision detection & active torque yielding |
| Compliance & Force | Fixed rigid position control | Smart Force Control & dynamic impedance |
Gen.1 integrated components. Gen.2 integrates intelligence.
"Gen.1 integrated components. Gen.2 integrates intelligence."
Discrete Component Layout
First-generation approach with motor, gear, driver, and encoder separately wired together
Mechanical & Electrical Integration
Hardware compaction integrating motor and gear into a single joint housing package
Joint-Level Distributed Intelligence
Backdrivability, compensation control, collision detection, and impedance integrated inside the joint drive
Level 3. Instant Local Handling of Physical Disturbances
"Physical disturbances should be handled where they occur."
Sense
Collects dual 24-bit encoder, IMU, current, and temperature sensor data directly at the joint.
Estimate
Dynamically estimates external torque, nonlinear friction, and backlash using a sensorless model.
Control
Executes Position, Velocity, Torque, and Impedance control together with a disturbance observer (DOB).
Respond
Shock absorption, force limiting, active yielding, and smooth compliant response.
Drive+ 4 Core Hardware & Control Functions
Dual 24-bit Encoder
Measures the motor shaft and output shaft simultaneously at 24-bit resolution to estimate the joint's real position, torque, and transmission error in real time.
Integrated IMU Sensor
Detects acceleration and posture changes inside the joint in real time to perform gravity compensation and shock-mitigating motion while the robot walks.
Intelligent Force Control
Goes beyond simple position control to process torque control, active impedance control, a disturbance observer (DOB), and nonlinear friction compensation in real time.
Multi-Core Processing
Minimizes latency by running the high-speed motor control loop, sensor fusion algorithms, and industrial communication protocols in parallel on independent cores.
Smart Force Control in Action: 4 Physical Scenarios
Conventional Position-Control Drive
Forces the commanded position to hold, causing collision risk
01. Accidental Human Contact
Instantly lowers joint torque upon detecting external force and yields smoothly
6 Core Customer Values for Robot Developers
80% Less High-Speed Comms Load on the Host Controller
Processes kHz-level feedback loops inside the joint, reducing the bandwidth burden
<100ms Instant Physical Response at the Joint
Responds instantly at the physical site of the disturbance, without waiting on high-level AI decisions or communication delay
Intrinsic Physical Safety Next to Humans
Actively adjusts joint stiffness within a few milliseconds upon collision with people or the surrounding environment
50% Shorter Robot Integration Development Time
Sensor, driver, and control algorithms are unified, minimizing complex tuning work
Broad Industrial Communication Protocol Support
Full compatibility with existing control architectures via RS485, CANopen, EtherCAT, and more
One Platform Scaling from 100W to 2kW
The same software API across the entire product line, from Ø40mm to Ø130mm joint diameters
Smart Driver Lineup (C_0100 ~ C_2000)
Detailed specification table of precision-mapped drives by joint power output (100W~2kW)
| Model | Nominal Power | Peak Power | Nominal Current | Peak Current | Form Factor | Comm. Protocol |
|---|---|---|---|---|---|---|
| C_0100 | 100 W | 300 W | 3.65 Arms | 10.95 Arms | Ø 40 mm | CAN, EtherCAT, RS485 |
| C_0300 | 300 W | 900 W | 10.90 Arms | 32.70 Arms | Ø 54 mm | CAN, EtherCAT, RS485 |
| C_0600 | 600 W | 1.8 kW | 21.70 Arms | 65.30 Arms | Ø 90 mm | CAN, EtherCAT, RS485 |
| C_0750 | 750 W | 2.25 kW | 27.10 Arms | 81.50 Arms | Ø 100 mm | CAN, EtherCAT, RS485 |
| C_1500 | 1.5 kW | 4.5 kW | 54.00 Arms | 162.00 Arms | Ø 110 mm | CAN, EtherCAT, RS485 |
| C_2000 | 2.0 kW | 5.0 kW | 72.00 Arms | 180.00 Arms | Ø 130 mm | CAN, EtherCAT, RS485 |
From Motor Drive to Joint Intelligence.
HIGEN Smart Driver is not a simple motor controller. It is embodied intelligence at the joint level that senses physical interaction, adjusts force, and ensures safe, instant motion.
One Actuator Platform. Three Motor Architectures.
Based on common 3K Compound Gear and Smart Drive platforms, we deliver optimal motor architectures tailored to torque, speed, and packaging requirements.
Fig. Cutaway
HFA80A-81P51
Compact Joints / Small Mobility
An 800g lightweight structure delivering 81Nm peak output for space-constrained upper-body joints.
Fig. Cutaway
HFA90A-165P51
Shoulder R, Elbow, Hip Yaw
A mid-diameter joint solution for shoulder roll and elbow, where agility and sustained torque density both matter.
Fig. Cutaway
HFA90A-102P30
Hip R/Y, Ankle
93 rpm speed and a 30:1 gear ratio precisely coordinate ground clearance and angle changes during multi-legged walking.
Fig. Cutaway
HFA100A-300P51
Shoulder P/Y (Shoulder Pitch/Yaw)
A 100Nm-class axial-flux HFA actuator integrating an ultra-high-density AFPM structure with a 3K compound gear for high-load upper-body joints.
Fig. Cutaway
HFA120A-255P22
Waist P/R (Waist Pitch/Roll)
A dedicated waist module with 127 rpm fast rotation speed and 255Nm peak torque for upper-body power balancing.
Fig. Cutaway
HFA150A-348P22
Hip Pitch, Knee
Delivers the most powerful peak torque in the full-body humanoid at 348Nm, absorbing knee and hip landing impact.
Fig. Cutaway
HFA22I-11C30
Micro Joints / Multi-Finger Grippers
A 35g ultra-compact, ultra-lightweight module for finger, micro-gripper, and gaze-camera gimbal joint control.
Fig. Cutaway
HFA60I-60P51
Wrist, Neck
An ultra-light 560g, Ø62mm compact body optimized for fast motion control of end wrist and neck joints.
Fig. Cutaway
HFA70I-75P51
Wrist Roll / Neck Pitch
A 730g HFA wrist module for precision robot tasks requiring finely tuned acceleration response.
Fig. Cutaway
HFA70I-60P30
Ultra-Fast Precision Task Joints
Optimized for high-speed repetitive pick-and-place motion with 110 rpm fast response.
Fig. Cutaway
HFA90I-150P51
Upper-Body Precision Coordination Joints
A 1.42kg, Ø90mm inner-rotor structure delivering both high-speed inertial motion and fast acceleration response.
Fig. Cutaway
HFA90I-210P70
High-Reduction Precision Motion Joints
A 70:1 gear ratio for assembly and precision handling joints requiring high-precision torque transfer.
Fig. Cutaway
HFA120O-291P51
High-Load Lower-Body Joints
The outer-rotor structure's powerful effective-radius torque supports heavy lower-body loads with no inertial gap.
Fig. Cutaway
HFA120O-273P30
Dynamic Lower-Body Walking Joints
A mid-sized lower-body module achieving 66 rpm dynamic walking response with a 30:1 gear ratio.
Fig. Cutaway
HFA120O-200P22
High-Speed Lower-Body Balance Joints
A fast-response Outer Rotor HFA actuator with 90 rpm rotation speed that catches rapid loss of balance.
Fig. Cutaway
HFA120O-180P30
Mid-Size Outer Rotor Joints
A standard 120O HFA actuator delivering 180Nm peak torque in a compact 1.8kg body.
Fig. Cutaway
HFA180O-450P30
Ultra-High-Load Hip / Locomotion Joints
The flagship module dedicated to the most demanding industrial humanoid lower-body and hip joints, with 450Nm max output.
Fig. Cutaway
HFA180O-350P22
Ultra-Fast, High-Load Hip Joints
A large-diameter, Ø180mm Outer Rotor HFA actuator supporting 68 rpm high-speed dynamic output.
HFA100A-300P51
Move More. Run Longer. Integrate Faster.
Fusing high-efficiency motors, low-ratio precision reducers, and embedded smart drivers to create the complete motion interface between vehicle controller and the floor.
AMR / AGV Product Selector: Sub-sub Modules (QD, DD, In-Wheel)
QD Type (Quasi-Direct Drive)
The perfect balance of torque and acceleration response — for high-load logistics sites with frequent slope driving and heavy cargo acceleration
- Combines a high-torque motor with a precision low-ratio transmission
- Excellent slope-climbing and instant acceleration performance
- Shock-distributing housing structure for sudden stops/starts
DD Type (Direct Drive)
The pinnacle of silence and precision with a gearless architecture — for hospitals, semiconductor cleanrooms, labs, and other environments requiring extremely low noise and vibration control
- Completely eliminates the gearbox for 0% power transmission loss
- 0% backlash precision tracking with noise under 45dB
- Minimal wear parts achieve maintenance-free operation
In-Wheel Type
A space-maximizing, ultra-low-profile built-in drivetrain — for ultra-low-profile AMRs entering under pallets and carts with extreme space constraints
- Motor, reducer, brake, and encoder fully built into the wheel hub
- Reduces onboard chassis space requirements by over 70%
- Modular quick-change design cuts maintenance time to under 15 minutes
From Motion Component to Sensory Organ
A 3-layer architecture that slashes central communication overhead and handles physical disturbances locally at the joint level.
| Conventional Actuator | HIGEN Smart HFA (HFA Innovation) |
|---|---|
| Passive position/velocity command execution (Command-based drive) | Real-time active detection of force, contact & impact (Real-time force detection) |
| Simple repetition of fixed, predefined motion (Repetitive task) | Instantly adjusts torque and posture and yields |
| Focused on output power and precision alone | Focused on compliance and intrinsic safety |
| Waits for a central controller's decision | Instant on-site response within 100ms at the joint edge level (Level 3) |
Embodied Intelligence
More than a mere power component — realizes bodily intelligence that interacts with the physical world and adapts in real time.
Smart Force Control
Perceives external force through proprioceptive algorithms, without a torque sensor, to deliver optimal, smooth force control.
Safety (Yielding)
Delivers intrinsic physical safety that yields on its own to even the light force of a child's hand upon collision.