The BSJ11, BSJ14, and BSJ17 from DUCO Robots are bionic humanoid integrated joint modules featuring hollow wiring and a highly integrated drive-control design that combines drive, transmission, and sensing modules. The BSJ11 delivers 11 Nm start-stop peak torque in a 65 by 77 mm package weighing 0.45 kg. The BSJ14 provides 34 Nm peak torque in a 70 by 90 mm, 1.05 kg package. The BSJ17 offers 85 Nm peak torque in an 84 by 100 mm, 1.82 kg package. All feature 100:1 reduction ratio, 48V DC supply, EtherCAT communication, 19-bit output encoder resolution, IP54 rating, and a 30,000-hour lifespan, with built-in torque closed-loop control and full-state feedback for humanoid robots.