The invention discloses a collaborative robot joint with a single encoder, and belongs to the technical field of robots. The joint comprises an output flange, a torque sensor, a harmonic reducer, a frameless direct-drive torque motor, an input flange, a multi-turn absolute value encoder and a brake, wherein an output flange and the input flange can rotate relatively; the output end of the frameless direct-drive torque motor is connected with the torque sensor and the output flange through the harmonic reducer; and the input end of the frameless direct-drive torque motor is connected with the brake and the absolute value encoder. The collaborative robot joint provided by the invention has the functions of force sensing, absolute position memory, zero returning and the like, a collaborativerobot composed of the joint can work cooperatively with people in a semi-structure environment, and the the collaborative robot joint has the advantages of being high in precision force sensing function, compact in structure, high in rigidity, good in expandability and the like.