The Bath centre will become the third former Kiwi to play Test rugby for England after Henry Paul and Lesley Vainikolo, who both failed to make the grade.
But Robinson retired as one of the most successful cross-code recruits in the history of the game having won 51 caps for England, five for the Lions and a World Cup-winner's medal.
And Hape will launch his own international rugby union career inspired by Robinson's achievements. "I look to guys like Jason Robinson who switched codes and went on to do great things," said Hape. "I look to him for inspiration. I've looked at what he achieved and got out of the game. Being picked for England is one of the highest honours and greatest things any rugby player in England can do.
"It is a great feeling for myself and for my family and friends back in England. I am really looking forward to it."
ENGLAND TEAM (to play Australia at the Subiaco Oval in Perth tomorrow, kick-off 11am BST):
B Foden (Northampton); M Cueto (Sale Sharks), M Tindall (Gloucester), S Hape (Bath), C Ashton (Northampton); T Flood (Leicester), D Care (Harlequins); T Payne (Wasps), S Thompson (Brive), D Cole (Leicester), S Shaw (Wasps), T Palmer (Stade Francais), T Croft (Leicester), L Moody (Leicester, capt), N Easter (Harlequins).
Replacements: G Chuter (Leicester), D Wilson (Bath), C Lawes (Northampton), J Haskell (Stade Francais), B Youngs (Leicester), J Wilkinson (Toulon), M Tait (Sale Sharks).