Judge Kelson told the Rookes: "His will had been completely broken by the way you treated him. You treated him like a dog."
He said: "Man's inhumanity to man never ceases to shock."
The judge said: "He was fed very little - fed by way of food left out. He was kept hungry. He was constantly beaten and battered.
"He was just your punchbag, all three of you. If you were in a bad mood you would just go and kick and punch Craig Kinsella.
"It is staggering that this is happening in our society, absolutely staggering. It is almost unbelievable."
Judge Kelson told David Rooke: "He was under your control.
"He was treated horrendously. He was treated like a dog. The conditions were grotesque and you were just exploiting him."
He went on: "This was two months of horrendous violence. One could not watch the CCTV without wincing repeatedly. You made him your punchbag."
Judge Kelson concluded his sentencing remarks saying: "The hatred is simply immeasurable."
Commending South Yorkshire Police, he said: "My fear is that there are more of these cases about and we are now only beginning to discover them."
David Rooke admitted false imprisonment today and a number of counts of causing actual bodily harm.
Jamie Rooke admitted affray and a number of counts of causing actual bodily harm. He was jailed for four years.
Donna Rooke admitted a specimen count of battery. She was jailed for four months.
More top news
The incident happened on the A1133 at Laugherton on Friday evening.
Find out the latest on Storm Brian with Emma Jesson
Campaigners fighting plans to cut down more trees in Sheffield stepped up their opposition with a march and rally.