Product profile
ROKAE HSA Series
ROKAE HSA is a family of integrated force-controlled joint modules for humanoid and embodied robots. Harmonic reduction, torque sensing, dual encoders, a f...
Facts
- Company
- ROKAE Robotics
- Product type
- actuator_module
- Status
- commercial
- Primary capability
- integrated force-controlled actuation
- Website
- https://www.rokae.com/en/product/show/598/Integrated-Force-Controlled-Joint-HSA.html
About ROKAE HSA Series
ROKAE HSA is an integrated force-controlled joint family that combines a harmonic reducer, torque sensor, dual absolute encoders, frameless torque motor, brake and drive electronics in one robot-axis module. The smallest configuration weighs 450 g, while the range reaches a stated peak torque of 459 Nm and torque density up to 48 Nm/kg.
The control stack samples force at 32 kHz, runs impedance control above 1 kHz and provides a 100 Hz force-control bandwidth. EtherCAT communication, a 6 to 21 mm hollow bore and electromagnetic holding brake simplify system integration. ROKAE supplies HSA modules as standalone products and also uses them in its AR force-controlled arms.
Market context
component, 1600, 900, 39eb4aff3bdbc06cfd42cc3048ab957f199444c32f345c541217c605054845af, reviewed_16x9_official_media, Actuator Module, official_product_page, https://www.rokae.com/public/uploads/20251114/e95cdeac2ba4af6537433461ae3910fc.png, clean_photo_or_studio_fallback, https://www.rokae.com/en/product/show/598/Integrated-Force-Controlled-Joint-HSA.html, https://zlsbkmaixmmnjrgpkcyp.supabase.co/storage/v1/object/public/robotics_assets/products/korthos-humanoid-batch-22-approved-2026-08-21/rokae-hsa-series-official-16x9.jpg, User-approved official source media; stored as an exact 1600x900 JPEG for hero use., official_product_cutout, products/korthos-humanoid-batch-22-approved-2026-08-21/rokae-hsa-series-official-16x9.jpg, 2026-08-21, source_backed, official_transparent_cutout_on_neutral_16x9_canvas, components, Actuator Module, actuator_modules, components, actuation, 2026-08-22, actuator_module, components, true
Summary
Type: Joint module
Core: HSA Series
Function: Motion
Audience: Robot OEMs
Specifications
- architecture
- Harmonic reducer, torque sensor, dual encoders, motor, brake and drive
- communication
- EtherCAT
- control_frequency
- Above 1 kHz impedance control Hz
- force_control_bandwidth_hz
- 100 Hz Hz
- force_control_loop_hz
- 1 kHz force-control loop Hz
- force_sampling_hz
- 32 kHz Hz
- hollow_bore_mm
- 6-21 mm mm
- max_joint_torque_density
- Up to 48 Nm/kg
- motor_speed_rpm
- 6000 rpm rpm
- operating_temperature
- 0-50 C C
- peak_torque
- Up to 459 Nm across the family Nm
- peak_torque_nm
- Up to 459 Nm across the family Nm
- sampling_frequency_hz
- 32 kHz force sampling Hz
- torque_sensor_resolution_nm
- Below 0.05 Nm
- weight_g
- Smallest unit: 450 g g
Operations
- Environment
- humanoid robots, embodied robotics platforms, robotics development labs
- Primary user
- robotics OEMs, humanoid-robot integrators
- Role
- joint actuation, force-controlled manipulation, robot body integration
- Interaction model
- embedded joint control
- Mobility class
- robot joint module
- Product detail
- component, 1600, 900, 39eb4aff3bdbc06cfd42cc3048ab957f199444c32f345c541217c605054845af, reviewed_16x9_official_media, Actuator Module, official_product_page, https://www.rokae.com/public/uploads/20251114/e95cdeac2ba4af6537433461ae3910fc.png, clean_photo_or_studio_fallback, https://www.rokae.com/en/product/show/598/Integrated-Force-Controlled-Joint-HSA.html, https://zlsbkmaixmmnjrgpkcyp.supabase.co/storage/v1/object/public/robotics_assets/products/korthos-humanoid-batch-22-approved-2026-08-21/...