ROKAE HSA Series
The ROKAE HSA Series (Integrated Force-Controlled Joint HSA, Chinese 集成力控关节 / Xuanji) is a family of integrated force-controlled joint modules from ROKAE Robotics, part of its Embodied Intelligent Robot line. Each module packages an inner-rotor frameless torque motor, a gear reducer, a high-precision torque sensor and dual 18-bit absolute encoders into a single lightweight, compact housing.
The series spans six sizes — HSA-11, HSA-14, HSA-17, HSA-20, HSA-25 and HSA-32 — with peak torque from 11 to 459 N·m and rated power from 40 to 950 W. All modules run at 48 V, communicate over EtherCAT and support an optional electromagnetic brake. The lightest variant (HSA-11, without brake) weighs 450 g. Force control runs with a 100 Hz closed-loop bandwidth, impedance control at 1 kHz and force sampling at 32 kHz. ROKAE also offers a plug-and-play force-control algorithm solution for these joints.
Classification
Joint Module · serves as: Joint Actuation, Actuator, Force sensor, Real-time control. · compatible with: Humanoid.
Which group ROKAE HSA Series belongs to and how it is built
A subcategory covering joint actuators — integrated drive units combining a motor, gearbox, encoder, and control electronics in a single module, used in the joints of robot limbs and torsos.
A Joint Module is an integrated component that constitutes a complete robot joint. It typically combines a motor, gearbox, sensors, controller, and mechanical housing into a single, ready-to-use axial module. In robotics, joint modules simplify the design of manipulators, arms, and humanoids, reduce integration time, and improve construction repeatability. They are used where modularity, compactness, and rapid deployment are priorities.
Technical specification
Basic physical properties of ROKAE HSA Series — dimensions, weight and materials