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
| Item | Details | Source |
|---|---|---|
| Manufacturer | INSPIRE-ROBOTS (Beijing, founded 2016) | 1 |
| DoF | 6 | 2 |
| Motor Joints | 12 | 2 |
| Repeatability | ±0.20mm | 2 |
| Force Resolution | 0.5N | 2 |
| Payload | 3kg | 2 |
| Pressure Sensors | 6 (integrated) | 2 |
| Interface | GX12 aviation plug | 2 |
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
| Model | Features | Main Applications | Source |
|---|---|---|---|
| RH56BFX | High-speed movement, precision interaction (“The Pianist”) | Precision manipulation, musical instrument demonstration | 1 |
| RH56DFX | Strong grip, moderate speed, integrated force sensors | Grasping tasks, prosthetics | 1 |
RH56DFX Detailed Specs
| Item | Spec | Source |
|---|---|---|
| Thumb Grip Force | 15N | 3 |
| Palm Grip Force | 10N | 3 |
| Thumb Rotation | >65 degrees @ 107 deg/s | 3 |
| Thumb Flexion Speed | 70 deg/s | 3 |
| Finger Flexion Speed | 260 deg/s | 3 |
| Weight | 540g | 2 |
| Operating Voltage | DC24V ±10% | 2 |
| Idle Current | 0.2A | 2 |
| Max Current | 2A | 2 |
| Communication | RS485 | 2 |
F1 Series (Advanced)
The F1 series is a premium line with significantly enhanced structural rigidity through full metal body and integrated skeleton design.1
| Item | Spec | Source |
|---|---|---|
| Communication | 1kHz high-speed real-time (EtherCAT + RS485) | 1 |
| Static Passive Load | 30kg | 1 |
| Fingertip Grip Force | 15N | 1 |
| Sensors | 24 multi-dimensional (tactile/force/position/temperature) | 1 |
| Degrees of Freedom | 6 DoF | 1 |
| Number of Joints | 12 | 1 |
| Weight | 620 ± 10g | 1 |
| Operating Voltage | 24V - 48V | 1 |
| Idle Current (RS485) | 194 ± 10mA @ 24V | 1 |
| Idle Current (EtherCAT) | 210 ± 10mA @ 24V | 1 |
| Max Current | 5A | 1 |
| Quality Testing | Passed 20 standardized tests | 1 |
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.
| Item | INSPIRE RH56 | Shadow Dexterous Hand | PSYONIC Ability Hand |
|---|---|---|---|
| Degrees of Freedom | 6 DoF, 12 joints 2 | 24 DoF (20 actuated) 4 | 6 motors 5 |
| Weight | 540g (DFX) / 620g (F1) 12 | 4.3kg 4 | 490g 5 |
| Motor Count | 12 2 | 20 4 | 6 5 |
| Sensors | 6 (DFX) / 24 (F1) 12 | 100+ @ 1kHz 4 | Pressure sensors + haptic feedback 5 |
| ROS Support | O 2 | O 4 | X (Bluetooth app) 5 |
| Communication Speed | 1kHz (F1) 1 | 1kHz 4 | N/A |
| Main Applications | Service robots, prosthetics 1 | Research/AI 4 | Prosthetics 5 |
| Price Range | Vendor inquiry required | Vendor inquiry required | Vendor inquiry required |
| Features | Humanoid integration optimized 3 | Highest precision/research use 4 | Touch feedback 5 |
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 Type | RH56 Series | F1 Series | Source |
|---|---|---|---|
| Force Sensors | 6 integrated | 24 groups | 12 |
| Position Sensors | O | O | 2 |
| Tactile Sensors | - | O | 1 |
| Temperature Sensors | - | O | 1 |
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_serviceCommunication Interfaces
| Interface | RH56 Series | F1 Series | Source |
|---|---|---|---|
| RS485 | O | O | 12 |
| CAN | O | - | 2 |
| EtherCAT | - | O | 1 |
| ROS Plugin | O | O | 2 |
Supported Platforms
- Unitree G1: Official integration support 3
- Unitree H1: Official integration support 6
- 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 36
- 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
- INSPIRE-ROBOTS Official Site: https://en.inspire-robots.com
- GitHub unitreerobotics/DFX_inspire_service: https://github.com/unitreerobotics/DFX_inspire_service
See Also
Footnotes
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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 ↩38
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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
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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
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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
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PSYONIC. “Ability Hand.” https://www.psyonic.io/ability-hand ↩ ↩2 ↩3 ↩4 ↩5 ↩6 ↩7
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Unitree Robotics. “Dexterous Hand - H1 Developer Documentation.” https://support.unitree.com/home/en/H1_developer/Dexterous_hand ↩ ↩2