Inspire RH56 Dexterous Hand

A five-fingered dexterous hand from Inspire Robotics, with 6 motors driving 12 joints.

The RH56 is a line of five-fingered, humanlike dexterous hands made by Beijing-based Inspire Robotics; the RH56DFX is the commonly used model. It has 6 actuated degrees of freedom driving 12 joints in total: each finger is curled by a built-in miniature linear servo actuator (a small electric cylinder) acting through a linkage, the thumb has an extra side-to-side motion, and the remaining joints are coupled mechanically through the linkages. Official specs list a per-finger fingertip force of about 10 N (about 15 N for the thumb), built-in position and force feedback, self-locking when powered off, and RS485 or CAN communication. It is moderately priced and reliable, and is widely mounted on humanoid robots such as Unitree's H1 and G1 for teleoperation and imitation learning, making it one of the most common dexterous hands in labs both in China and abroad.

ExampleOpen-TeleVision uses an Apple Vision Pro to teleoperate a Unitree H1 fitted with Inspire dexterous hands to collect data.

Also called

Inspire Hand, RH56DFX

Related

Dexterous Hand · Inspire Robots · Linear Actuator (Electric Cylinder) · Linkage Transmission · Unitree H1 · Open-TeleVision

Sources

RH56DFX - INSPIRE ROBOTS
The Dexterous Hand RH56 Series User Manual

As of

2026-09