Inspire Hand

INSPIRE-ROBOTS dexterous hand - Robot hand recreating human hand precision

Inspire Dexterous Hand

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Overview

INSPIRE-ROBOTS is a company specializing in micro high-precision motion control components, founded in Beijing, China in 2016.1 They successfully developed their first-generation micro linear servo actuator in the first year, and have since accumulated unique technical expertise in micro size, high precision, and force control fields.1 Currently, they supply products to over 20 countries via DHL.1

Core Specifications

ItemDetailsSource
ManufacturerINSPIRE-ROBOTS (Beijing, founded 2016)1
DoF62
Motor Joints122
Repeatability±0.20mm2
Force Resolution0.5N2
Payload3kg2
Pressure Sensors6 (integrated)2
InterfaceGX12 aviation plug2

Key Significance

The INSPIRE Dexterous Hand is notable for achieving industrial-grade precision while maintaining human hand size and appearance.2 The combination of 6 degrees of freedom and 12 motor joints implements hybrid position/force control algorithms, enabling precise grasping motions similar to the human hand.2

Particularly, official integration with Unitree G1 humanoid robot demonstrates its value as a practical platform for physical AI research.3 ROS plugin support and RS485/CAN communication interfaces enable flexible integration in both research and industrial environments.2

The adaptive grasping function based on linear servo drives enables safe manipulation of objects of various shapes and materials, making it suitable for a wide range of applications including service robots, educational robots, and prosthetics.1

Product Lineup

RH56 Series

ModelFeaturesMain ApplicationsSource
RH56BFXHigh-speed movement (thumb 235°/s, fingers 570°/s), precision interaction (“The Pianist”)Piano playing, gesture interaction1
RH56DFXStrong grip (thumb 15N), moderate speed, integrated force sensorsGrasping tasks, prosthetics1

RH56BFX Detailed Specs

ItemSpecSource
Thumb Grip Force6N2
Finger Grip Force4N2
Thumb Rotation Speed235°/s2
Thumb Flexion Speed150°/s2
Finger Flexion Speed570°/s2
Force Resolution0.5N2
CommunicationRS4852

RH56DFX Detailed Specs

ItemSpecSource
Thumb Grip Force15N23
Finger Grip Force10N23
Thumb Rotation>65° @ 107°/s23
Thumb Flexion Speed70°/s23
Finger Flexion Speed260°/s23
Weight540g (standard) / 790g (enhanced)4
Operating VoltageDC24V ±10%2
Idle Current0.2A2
Max Current2A (standard) / 4A (enhanced)24
CommunicationRS4852
Force Resolution0.5N2

F1 Series (Advanced)

The F1 series is a premium line with significantly enhanced structural rigidity through full metal body and integrated skeleton design.1

ItemSpecSource
Communication1kHz high-speed real-time (EtherCAT + RS485)15
Static Passive Load30kg15
Thumb Grip Force≥15N5
Finger Grip Force≥10N5
Force Resolution0.1N5
Sensors24 multi-dimensional (tactile/force/position/temperature)15
Tactile Sensors6 (measurement range 30N, accuracy 5% FS)5
Degrees of Freedom6 DoF1
Number of Joints121
Weight620 ± 10g1
Operating Voltage24V - 48V1
Idle Current (RS485)194 ± 10mA @ 24V15
Idle Current (EtherCAT)210 ± 10mA @ 24V15
Max Current5A @ 24V15
Hand Closing Time≤0.8s5
Quality TestingPassed 20 standardized tests1

F1 Series Motion Specs

ItemSpecSource
Thumb Lateral Rotation Range56° - 180°5
Thumb Lateral Rotation Speed>155°/s5
Thumb Flexion Speed>37°/s5
Finger Flexion Speed>107°/s5
Fingertip Repeat Positioning Accuracy±0.2mm5

F1 Series Key Features

  • Full Metal Body: Maximum durability with integrated skeleton design 1
  • Hidden Wiring: Clean appearance with innovative internal wiring 1
  • Multi-Sensor System: 4 categories, 24 groups of sensors (tactile, force, position, temperature) 1
  • Multi-Mode Control: Supports various control strategies 1

Competitive Product Comparison

The table below is based on official materials from each manufacturer. Some items marked “N/A” due to lack of public information.

ItemINSPIRE RH56Shadow Dexterous HandPSYONIC Ability Hand
Degrees of Freedom6 DoF, 12 joints 224 DoF (20 actuated) 66 motors 7
Weight540g (DFX) / 620g (F1) 124.3kg 6490g 7
Motor Count12 220 66 7
Sensors6 (DFX) / 24 (F1) 12100+ @ 1kHz 6Pressure sensors + haptic feedback 7
ROS SupportO 2O 6X (Bluetooth app) 7
Communication Speed1kHz (F1) 11kHz 6N/A
Main ApplicationsService robots, prosthetics 1Research/AI 6Prosthetics 7
Price RangeVendor inquiry requiredVendor inquiry requiredVendor inquiry required
FeaturesHumanoid integration optimized 3Highest precision/research use 6Touch feedback 7

Note: Contact each vendor directly for accurate pricing.

Technical Features

Drive Method

  • Linear Servo Drive: Based on micro linear servo actuators 1
  • Linkage Drive: Linked mechanism mimicking human hand tendon system 2
  • Hybrid Control: Simultaneous application of position and force control 2

Sensing System

Sensor TypeRH56 SeriesF1 SeriesSource
Force Sensors6 integrated24 groups12
Position SensorsOO2
Tactile Sensors-O1
Temperature Sensors-O1

Control Algorithms

  • Adaptive Grasping: Automatic grip adjustment based on object shape 2
  • Force Feedback Control: Delicate manipulation based on real-time force sensor 2
  • Position Accuracy: ±0.20mm repeatability 2

Compatibility

Unitree G1 Integration

INSPIRE RH56 series officially supports integration with Unitree G1 humanoid robot.3

  • Control Topic: rt/inspire/cmd (MotorCmds message) 3
  • State Topic: rt/inspire/state (MotorStates message) 3
  • Control Method: Joint-level control (12 motor array) 3
  • Supported Parameters: q (joint position) 3
# Unitree RH56DFX Inspire Hand Controller
git clone https://github.com/unitreerobotics/DFX_inspire_service

Communication Interfaces

InterfaceRH56 SeriesF1 SeriesSource
RS485OO12
CANO-2
EtherCAT-O1
ROS PluginOO2

Supported Platforms

  • Unitree G1: Official integration support 3
  • Unitree H1: Official integration support 8
  • Other Humanoids: Connectable via RS485/CAN interface 2
  • Research Arms: Standard communication protocol support 2

Application Fields

  • Humanoid Robots: Integration with humanoid platforms like Unitree G1/H1 38
  • Service Robots: Object manipulation in everyday environments 1
  • Research/Education: University labs, robotics centers 1
  • Prosthetics: Rehabilitation and assistive devices 1
  • Industrial Automation: Delicate assembly work 1

References

Primary Sources

Additional References

See Also

Footnotes

  1. INSPIRE-ROBOTS Store. https://inspire-robots.store/ ↩ ↩2 ↩3 ↩4 ↩5 ↩6 ↩7 ↩8 ↩9 ↩10 ↩11 ↩12 ↩13 ↩14 ↩15 ↩16 ↩17 ↩18 ↩19 ↩20 ↩21 ↩22 ↩23 ↩24 ↩25 ↩26 ↩27 ↩28 ↩29 ↩30 ↩31 ↩32 ↩33 ↩34 ↩35 ↩36 ↩37

  2. INSPIRE-ROBOTS. “THE DEXTEROUS HAND RH56 SERIES USER MANUAL.” https://en.inspire-robots.com/wp-content/uploads/2024/02/INSPIRE-ROBOTS-THE-DEXTEROUS-HAND-RH56-SERIES-USER-MANUAL.pdf ↩ ↩2 ↩3 ↩4 ↩5 ↩6 ↩7 ↩8 ↩9 ↩10 ↩11 ↩12 ↩13 ↩14 ↩15 ↩16 ↩17 ↩18 ↩19 ↩20 ↩21 ↩22 ↩23 ↩24 ↩25 ↩26 ↩27 ↩28 ↩29 ↩30 ↩31 ↩32 ↩33 ↩34 ↩35 ↩36 ↩37 ↩38 ↩39 ↩40 ↩41 ↩42 ↩43 ↩44

  3. Unitree Robotics. “Inspire DFX Dexterous Hand - G1 Developer Documentation.” https://support.unitree.com/home/en/G1_developer/inspire_dfx_dexterous_hand ↩ ↩2 ↩3 ↩4 ↩5 ↩6 ↩7 ↩8 ↩9 ↩10 ↩11 ↩12 ↩13 ↩14

  4. Multiple Distributors. RH56DFX Specifications (540g/790g variants). https://rcdrone.top/products/inspire-robots-rh56dfx-dexterous-robot-hand ↩ ↩2

  5. US Robot Store. “Inspire Robots RH56F1 - 5-Finger Robotic Dexterous Hand.” https://www.usrobotstore.com/products/inspire-robots-rh56f1-5-finger-robotic-dexterous-hand ↩ ↩2 ↩3 ↩4 ↩5 ↩6 ↩7 ↩8 ↩9 ↩10 ↩11 ↩12 ↩13 ↩14 ↩15 ↩16

  6. Shadow Robot Company. “Shadow Dexterous Hand Technical Specification.” https://www.shadowrobot.com/wp-content/uploads/2022/03/shadow_dexterous_hand_e_technical_specification.pdf ↩ ↩2 ↩3 ↩4 ↩5 ↩6 ↩7 ↩8

  7. PSYONIC. “Ability Hand.” https://www.psyonic.io/ability-hand ↩ ↩2 ↩3 ↩4 ↩5 ↩6 ↩7

  8. Unitree Robotics. “Dexterous Hand - H1 Developer Documentation.” https://support.unitree.com/home/en/H1_developer/Dexterous_hand ↩ ↩2