This is a game-changing robot rotary actuator!A conventional harmonic drive robot rotary actuator typically consists of a harmonic reducer, frameless torque motor, encoder, drive board, and housing. This upgraded version goes far beyond the traditional design by reserving internal space for an integrated torque sensor, allowing customers to optionally equip a torque sensor without increasing the overall size or weight. In addition, the actuator supports STO (Safe Torque Off), significantly enhancing operational safety during robot motion.