The TCHL Harmonic Joint Module is a harmonic joint module that integrates a torque sensor directly into the harmonic drive reducer. The torque sensor enables precise measurement of the drive system’s operating status and required torque values, allowing accurate load detection of the actuator. This helps prevent overload and enables safer human–robot interaction. The module features fully integrated cables and connectors, allowing fast, precise component connections and enabling safe, responsive motion control through a highly integrated design.

Frameless torque motors, unlike traditional servo motors, consist only of stator and rotor components. Compared to framed motors, frameless motors offer flexible configuration and easy installation. Considering the increasing trend of highly integrated drive systems, frameless motors better meet the expectations of engineers. Engineers no longer need to consider motor interfaces in system design, allowing for maximum reduction of space occupied by the power output unit in the drive system, leading to higher system integration.The HONPINE FMK frameless torque motors are now widely used in the J1–J6 joints of collaborative and dual-arm robots, the walking joints of quadruped robots, and the flexible joints of humanoid robots.