Elsom suffered nerve damage to his shoulder in the Waratahs' loss to the Stormers in Cape Town two weeks ago, and it's unclear whether he'll be able to return to the field after the mid-year break for Test matches.
Robinson has already led the side for most of the year while Elsom was recovering from hamstring problems.
Australian star Drew Mitchell retains his spot on the wing to face the Hurricanes in Sydney, after his ankle pulled up well from his return match last week against the Cheetahs.
NSW coach Michael Foley has made two major changes from the side which lost to the Cheetahs in Bloemfontein, with South African Sarel Pretorius to start at halfback and Jono Jenkins elevated to the run-on side at No.7.
Wallabies train-on squad members Sitaleki Timani and Kane Douglas start in the second row, while Robinson, Sekope Kepu, Bernard Foley, Berrick Barnes, Adam Ashley-Cooper and Rob Horne will be others hoping to come through the Hurricanes match unscathed and be available for Australia's Test against Scotland in Newcastle on Tuesday.
The under-pressure Waratahs are on a five-match losing streak and well out of contention for the Super Rugby finals.
However NSW boast a good recent record against the Hurricanes - who are mid-table in the New Zealand conference but still an outside hope of making the play-offs.
Teams:
Waratahs:
15 Bernard Foley, 14 Tom Kingston, 13 Rob Horne, 12 Adam Ashley-Cooper, 11 Drew
Mitchell, 10 Berrick Barnes, 9 Sarel Pretorius, 8 Wycliff Palu, 7 Jono Jenkins,
6 Dave Dennis, 5 Kane Douglas, 4 Sitaleki Timani, 3 Sekope Kepu, 2 Tatafu
Polota-Nau, 1 Benn Robinson (captain)
Substitutes: 16 John Ulugia, 17 Jeremy Tilse,
18 Richard Stanford, 19 Lopeti Timani, 20 Brendan McKibbin, 21 Daniel Halangahu, 22 Tom
Carter
Hurricanes:
15 Andre Taylor, 14 Alapati Leiua, 13 Conrad Smith (captain), 12 Tim
Bateman, 11 Julian Savea, 10 Beauden Barrett, 9 TJ Perenara, 8 Victor
Vito, 7 Jack Lam, 6 Faifili Levave, 5 Jason
Eaton, 4 Jeremy Thrush, 3 Jeffery Toomaga-Allen, 2 Dane Coles, 1 Ben
May
Substitutes: 16 Motu Matu’u, 17 Reg Goodes,
18 James Broadhurst, 19 Brad Shields, 20 Chris Eaton, 21 Tusi Pisi, 22
Jayden Hayward