We’re different. And so are our drives.


Torque-controlled actuator

The future is progressive.
Progress is innovative. Progress is compact. Progress is powerful.
In a word – progress is torque-controlled.

The SENSO-Joint is the epitome of the new torque-controlled actuators from SENSODRIVE.
In addition to the renowned SENSODRIVE torque sensor, the drive package includes a long-lasting HarmonicDrive® gearbox and an output bearing.
The SENSO-Joint comes up trumps with its powerful motor and two encoders.
To complete the team, you can leave control of the SENSO-Joint to the integrated motor controller.

Compact and powerful, light and sensitive – the sophisticated way of installing the torque sensor and its ideal adaptation to the actuator's components are what make the SENSO-Joint so successful.

Discover the SENSO-Joint and equip your project for the future.

The future is progressive: We're more progressive. SENSO-Joint.

SENSO-Joints' components

  • Robust Harmonic Drive® gearbox
  • Output bearing
  • Optimized torque sensor on the gearbox
  • Powerful motor
  • High resolution motor position sensor
  • High resolution output position sensor
  • Brake
  • Motor controller with EtherCAT and STO (Safe Torque Off)

SENSO-Joint's special features

  • Torque sensor: patented technology, highly accurate measurement
  • Gearbox: robust Harmonic Drive® – quality
  • Bearing: output cross roller bearing
  • Motor: brushless and powerful, including encoder
  • Optional controller: for intelligent torque control
  • Extremely compact design
  • Makes human-robot collaboration possible without protective fences in accordance with ISO/TS 15066
  • Unsurpassed torque measurement precision – the sensor is ideally matched to the gearbox
  • Patented technology to compensate for disturbances through gearboxes, bearings and external loads
  • The SENSO-Joint is the actuator in a complete package – ready for immediate installation
  • An output-side position sensor is available – for a lightning-fast start without any referencing
  • We can develop a product variant for you that is optimized exactly for your application
  • Optional:
    • integrated torque controller
    • active vibration damping
    • additional safety features


  • Development of a modern exoskeleton – SENSO-Joints as part of an intelligent lifting aid – for the human-robot-collaboration of the future

  • SENSODRIVE torque sensors in winding machines – higher quality and less waste due to an exactly maintainable film tension

  • Torque-controlled drives for recording the joint load and calculating the ideal maintenance intervals – thereby reducing costs

  • SENSO-Units and SENSO-Joints in robot joints – successful human-robot collaboration and sensitive assembly work to increase efficiency in the factory of tomorrow

  • Worldwide use in lightweight robots

Make your project a success story too – ask now!


Technical data

SENSO-Joint Serie
3000 5000 7000
Gearbox type Harmonic Drive
Torque sensor completely integrated
Motor BLDC Motor
Motor controller completely integrated
Brake completely integrated
Supply voltage [V] 48
Communikation interface EtherCAT
Safety function STO by digital inputs
Position sensor inputside 19bit absolute-encoder 19bit absolute-encoder 20bit absolute-encoder
Position sensor outputside 19bit absolute-encoder 19bit absolute-encoder 20bit absolute-encoder
Output bearing cross roller bearing
SENSO-Joint Produkte 3003 3005 Standard 3008 3010 5005 5008 5010 Standard 5012 5016 7003 7005 7008 7010 7012 Standard 7016
Reduction ratio 1:31 1:51 1:81 1:101 1:51 1:81 1:101 1:121 1:161 1:31 1:51 1:81 1:101 1:121 1:161
Rated output torque [Nm] 4 5,4 7,8 7,8 19 30 38 45 52 31 51 81 101 121 137
Max. output torque [Nm] 9 18 23 28 62 96 107 113 120 100 137 137 137 137 137
Rated output speed [min-1] 64 39 24 19 39 24 19 16 12 64 39 24 19 16 12
Max. output speed [min-1] 220 134 84 67 75 47 38 31 24 95 57 36 29 24 18
Length [mm] 147,5 169 201
Diameter [mm] 90 100,00 145,00
Diameter hollow shaft [mm] 9,00 9,00 19,00
Weight [kg] approx. 1,3 approx. 2,0 approx. 4,9
Technical drawing SENSO-Joint 3000.pdf SENSO-Joint 5000.pdf SENSO-Joint 7000.pdf
Further technical information We would be pleased to answer any questions you may have and send you the CAD data of our SENSO-Joints

SENSO-Joint Serie 3000

SENSO-Joint Serie 5000

SENSO-Joint Serie 7000

SENSO-Joint Customized

We can develop the perfect solution for you – especially according to your requirements.
Please inquire!


Torque-controlled actuator success stories

Medical technology 

Vibration damping for surgical microscopes

SENSODRIVE proves that innovations are at home not only in the industry, but also in the operating theater.

further information


An incredible space suit

An astronaut returns from a space mission, treads on solid ground and promptly sinks to his knees. Not in a film. In reality.

Further information


Hightech lifting aid

Need to lift a 20-kilo package? With one hand tied behind your back! We took another step in human-robot collaboration (HRC) for one of our exciting projects.

further information

Drives for the ballbot

Cooperation with the Carnegie Mellon University

Ballbot didn't have any arms.
And then SENSODRIVE came along.

further information


Torque-controlled Robot

Would you put your hand in the way of a fast-moving robot? No one would, unless they knew very little about technology. Or would they?

further information