Full specification
| Parameter | Value |
|---|---|
| Frame / size | Φ130 × 136 mm |
| Ratios | 120:1 / 160:1 |
| Rated torque @2000 rpm input | 248 / 363 N·m |
| Average output torque | 448 / 557 N·m |
| Start–stop peak | 648 / 800 N·m |
| Instantaneous max | 1,458 N·m |
| Weight | 5,820 g |
| Through-bore | Φ22 mm |
| Flexspline type | Cup type — confirmed in writing by the factory, 2026-10-14 |
| Encoder | Dual absolute encoder |
| Built-in torque sensor | Not available at this frame — RHU -F variants stop at RHU25L-80 |
| Naming rule | RHU <reducer size><H/L>-<module OD> → 40-size reducer, high torque, 130 mm |
Source: EYOU selection manual 2026.08, pp. 6–7, plus the factory answer of 2026-10-14 on flexspline type and the RHU-F range limit. Figures verified November 2026 — confirm the exact variant against the datasheet issued with your order.
When this is the right choice
- Knee and hip pitch on a 70 kg+ platform. 248 N·m continuous is the honest number for a leg carrying that mass through a sit-to-stand cycle.
- Φ22 mm through the axis. A leg harness, brake lead and sensor cable fit through the joint instead of looping over the thigh cover.
- 160:1 without a bigger frame. 363 N·m rated and 800 N·m start–stop in the same Φ130 × 136 envelope.
- Cup-type flexspline, confirmed in writing — which also removes the hat-type crosstalk and moment questions from a torque-sensor specification.
When it is the wrong choice
- Any axis that needs built-in torque feedback. The RHU force-control variants stop at RHU25L-80, so a force-controlled knee here means an external sensor and the bracket around it.
- Wrist and forearm axes. 5.82 kg is a leg-sized mass; PHU17H or PHU20H cover those.
- Below ~150 N·m. RHU32H-120 (124 N·m, 4.08 kg) or TCHL-32 (169 N·m, 3.30 kg) are lighter for the same job.
Alternatives at a similar level
- EYOU RHU32H-120 — 124 N·m at 120:1, 4.08 kg — one frame down
- Tongchuan TCHL-32 — 169 N·m at 3.30 kg with brake and torque-sensor variants
- Crabnova CE-RBV3-R120-MAX — 300 N·m with brake and a 600 N·m sensor built in, 4.20 kg
- EYOU PHU40H-170 — 320 N·m rated, 1,458 N·m ceiling, 8.52 kg — the step up
Quote this model
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RHU40H-130 FAQ
What does RHU40H-130 actually mean?
RHU is the humanoid series, 40 is the reducer size, H is the high-torque spec and 130 is the module outside diameter in millimetres. The full part number is a 40-size harmonic reducer with a high-torque motor in a Φ130 housing.
120:1 or 160:1?
120:1 gives 248 N·m rated and 448 N·m average with a higher output speed; 160:1 gives 363 N·m and 557 N·m. Both share the same 1,458 N·m instantaneous ceiling, so the choice is torque against speed, not strength.
Can I get a torque sensor on this frame?
Not built in. EYOU’s RHU force-control variants (-F) stop at RHU25L-80; RHU32H and RHU40H are not offered with one. A force-controlled knee needs an external sensor, and we spec the sensor and the bracket together with the module.
Cup or hat flexspline — and why does it matter?
Cup type, confirmed by the factory on 2026-10-14. It matters because hat-type installations are the ones that need crosstalk moment, axial and radial load limits on a torque-sensor data sheet; with a cup type those rows become not applicable, which shortens the specification.
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