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ROKAE HSA Series Integrated Force-Controlled Joints

ROKAE HSA Series Integrated Force-Controlled Joints

ROKAE HSA Series Integrated Force-Controlled Joints are Embodied Intelligence Products, Industry-Grade Quality, Human-Like and Force-Controlled, Open and Intelligent
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Key Feature

Lightweight & Highly Integrated

Single-plane encoder layout; minimum joint weight: 450 g

Large hollow bore diameter 10% larger than industry average, saving 20% installation space and significantly lowering equipment integration burden

Benchmark Force-Control Technology

“Micro-gram” force sensing ≤0.05 N·m torque sensor resolution

High-performance frameless torque motor, max speed 6000 rpm

32 kHz force-control sampling + 1 kHz impedance control

Force-controlled closed-loop bandwidth 100 Hz

Powerful & Reliable Performance

High-precision harmonic reducer, torque density up to 48 Nm/kg, peak torque 459 Nm

300% F.S. overload capacity + electromagnetic holding brake, operating temperature 0–50°C, dual absolute encoder redundancy for stable operation under extreme conditions

Universal & Easy Integration

Hollow bore diameter: 6~21 mm

Supports EtherCAT communication (cycle time 1 ± 0.1 ms), plug-and-play compatibility with a wide range of devices

ROKAE HSA Series

Parameter HSA-11 HSA-14 HSA-17 HSA-20 HSA-25 HSA-32
Motor Type
Inner-rotor Frameless Torque Motor Inner-rotor Frameless Torque Motor Inner-rotor Frameless Torque Motor Inner-rotor Frameless Torque Motor Inner-rotor Frameless Torque Motor Inner-rotor Frameless Torque Motor
Dimension (Diameter)
52 mm 60 mm 72 mm 82 mm 110 mm 142 mm
Dimension (Length)
68 mm 74 mm 98 mm 107 mm 115 mm 135 mm
Hollow Inner Diameter
6 mm 9 mm 10 mm 13 mm 15 mm 21 mm
Weight (Without Brake)
413 g(without) 600 g(with) 1100 g(with) 1700 g(with) 2950 g(with) 6000 g(with)
Operating Voltage
48 V 48 V 48 V 48 V 48 V 48 V
Joint Rated Power
40 W 120 W 160 W 250 W 600 W 950 W
Gear Ratio
100 100 100 120 100 120
Rated Speed
30 rpm 30 rpm 30 rpm 30 rpm 30 rpm 20 rpm
Torque Density
19.8 Nm/kg 12.8 Nm/kg 46.4 Nm/kg 37.6 Nm/kg 47.5 Nm/kg 46.8 Nm/kg
Max Allowable Avg Load Torque
8.9 Nm 7.7/14 Nm 51 Nm 64 Nm 140 Nm 281 Nm
Peak Torque
11 Nm 19 Nm 70 Nm 113 Nm 204 Nm 459 Nm
Torque Sensor Rated Torque
12 Nm 25 Nm 70 Nm 110 Nm 210 Nm 480 Nm
Torque Sensor Resolution
≤0.05 Nm ≤0.05 Nm ≤0.05 Nm ≤0.05 Nm ≤0.05 Nm ≤0.05 Nm
Torque Limit
36 Nm 75 Nm 210 Nm 330 Nm 630 Nm 1440 Nm
Force Control Closed-Loop Bandwidth
100 Hz 100 Hz 100 Hz 100 Hz 100 Hz 100 Hz
Impedance Control Frequency
1 kHz 1 kHz 1 kHz 1 kHz 1 kHz 1 kHz
Force Control Sampling Frequency
32 kHz 32 kHz 32 kHz 32 kHz 32 kHz 32 kHz
Encoder Precision (bit)
18 bit 18 bit 18 bit 18 bit 18 bit 18 bit
Encoder Type
Dual Absolute Dual Absolute Dual Absolute Dual Absolute Dual Absolute Dual Absolute
Communication
EtherCAT EtherCAT EtherCAT EtherCAT EtherCAT EtherCAT

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