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. These figures describe the series matrix and should be selected by model, because dimensions, mass, reduction ratio, speed and torque are not universal across every HSA module.