Toyota T-HR3

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T-HR3 is Toyota's third-generation humanoid, revealed in November 2017, and the shift it represents is from position to force. The first two generations, in 2005 and 2010, played the trumpet and the violin — exercises in putting joints exactly where you want them. T-HR3 instead controls the torque at each joint, which is what lets it touch things, and people, safely. It stands 1,540 mm, weighs 75 kg, and has 32 torque-controlled joints plus ten fingers: three axes at each shoulder, one at the elbow, three at the wrist, three at the waist, three at each thigh, one at each knee and two at each ankle. Every one carries a Torque Servo Module — motor, reduction gear and a Cr-N alloy thin-film torque sensor developed with Tamagawa Seiki and Nidec Copal — so the robot senses and shares force rather than simply resisting it. It is driven by a Master Maneuvering System: a seat rig of 14 axes plus two, 850 x 1,500 x 1,450 mm and 170 kg, with master arms mapped to the robot's joints, a master foot that lets the operator walk in place, a data glove and a head-mounted display giving the robot's point of view. Because force passes both ways, the operator feels what the robot touches. Self-interference prevention stops robot and operator fighting each other, and whole-body balance control keeps it upright when something pushes back. Toyota positions it as a platform rather than a product, for homes, medical facilities, construction sites, disaster zones and eventually space. NTT DOCOMO later demonstrated operating it remotely over 5G.

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