A handwheel actuator assembly includes a handwheel shaft configured for connection to a handwheel, the handwheel shaft extending longitudinally about an axis. The handwheel actuator assembly also includes a motor operatively coupled to the handwheel shaft. The handwheel actuator assembly further includes a planetary gear assembly disposed within the motor. The handwheel actuator assembly yet further includes an electronic control unit (ECU) in operative communication with the motor.