Sixty newton-meters, continuous. An entire joint — motor, gearing, sensing, and drive — in one sealed module, Ø88 × 72 mm.
Two sealed shells carry the loads, the bearing seats, and the mounting interface. Bolt to it; it is the link.
Wave generator, flexspline, circular spline. The joint's precision lives in three parts — compound flexspline, our IP.
A frameless BLDC wrapped around the gear train, and a three-state backdrivability clutch — rigid, damped, or free.
Dual encoders, flexspline torque sensing, drive electronics on board. One connector out: a 1 kHz joint-state vector.
Every interface derives from the ratified ICD — the same spec that generates the production geometry.
| Continuous torque | 60 N·m |
| Peak torque | 135 N·m |
| Max output speed | 80 rpm |
| Gearing | Strain-wave compound, 80:1 |
| Torque sensing | Flexspline strain gauge, ±0.1 N·m |
| Position noise floor | ≤2 arcsec RMS at 1 kHz |
| Envelope | Ø88 × 72 mm · hollow bore Ø25 |
| Mass | 1.7–2.0 kg (EST) |
| Comms | EtherCAT + CAN-FD |
| Sealing | IP67 |
Specs are V1.1 engineering targets validated to prototype level; ISAP-60 is the lead dyno article. Interface geometry per the ratified ICD (Ø100 g6 pilot, 6 × M5 on PCD 110, ISO 9409-1-A80 output). Full datasheets and derating curves are released to design partners under NDA.