ROKAE HSA Series

ROKAE HSA is a family of integrated force-controlled joints that packages a frameless motor, harmonic reducer, torque sensor, dual absolute encoders, brake and drive electronics into one robot-axis module. The six listed sizes run from HSA-11 to HSA-32, spanning compact limb joints through higher-torque axes. All models use 48-volt power and EtherCAT communication.

The family supports a one-kilohertz force-control loop, impedance control above one kilohertz and force sampling at 32 kilohertz. Model-specific output varies substantially: rated power runs from 40 to 950 watts and peak torque reaches 459 newton-metres on the HSA-32. Hollow shafts support internal cable routing.