Inspire RH56DFQ Dexterous Hand
Inspire RH56DFQ dexterous hand — a five-finger, force-controlled hand for the G1 EDU. This listing is the left hand; the right hand is one click away.
- Unitree G1 EDU (U2 and higher)
- Unitree H2-D
About the Inspire RH56DFQ Dexterous Hand
The Inspire RH56DFQ dexterous hand is a five-finger, force-controlled end effector — the dexterous-hand option fitted on the higher tiers of the Unitree G1 EDU and on the H2-D. It is sold per hand — left or right — for new robot configurations, replacements and development work.
For labs and developers, the five-finger layout covers human-like grasp postures: power grasps, precision pinches and in-hand adjustment, with force sensing behind teleoperation and demonstration-data collection.
Six Driven Joints, Five Fingers, Force Feedback
The Inspire RH56DFQ dexterous hand drives six active degrees of freedom across five fingers — two in the thumb and one in each of the four fingers — through six micro linear servo actuators acting on twelve joints. Force-position hybrid control lets the hand close on an object in under 0.4 seconds and hold it without driving through it, and the joints self-lock when power is cut, so a gripped object stays put.
Six integrated pressure sensors report contact force at 0.5 N resolution, and every actuator reports its position — so grasping pipelines get force feedback and repeatable motion (±0.20 mm repeatability) over RS485 or CAN, with ROS/ROS2 support for integration work.
- 6 active DoF, 12 joints across five fingers
- Force-position hybrid control — closes in under 0.4 s
- 6 pressure sensors with 0.5 N force resolution
RH56DFQ vs RH56DFX: Which Inspire Hand to Buy
Inspire makes two closely related five-finger hands. This page is the Inspire RH56DFQ dexterous hand — the version fitted to the higher G1 EDU tiers and the H2-D. The RH56DFX is the general-integration version of the same hand family, and the tactile-sensing RH56DFTP has its own page.
| RH56DFQ (this page) | RH56DFX | |
|---|---|---|
| Typical use | Unitree G1 EDU (U2 and higher) · H2-D | General humanoid and prosthesis integration |
| Degrees of freedom | 6 active — 12 joints | 6 active — 12 joints (DFXW adds a 2-DoF wrist) |
| Max grip force | Thumb 6 N · four fingers 4 N | Thumb 15 N · four fingers 10 N |
| Four-finger flexion speed | 570°/s | 260°/s |
| Communication | RS485 or CAN · ROS/ROS2 | RS485 · ROS |
| Best for | G1 EDU / H2-D manipulation, fast teleoperation | Custom platforms needing higher grip force or a wrist |
How to Tell the Left Hand from the Right
The Inspire RH56DFQ dexterous hand is sold per hand, and the two sides are mirror builds — they are not interchangeable. The model number carries the side: RH56DFQ-2L is the left hand, RH56DFQ-2R is the right hand.
Order a single hand for a replacement or for single-arm tasks. For bilateral manipulation on a G1 EDU, plan a pair — one RH56DFQ-2L and one RH56DFQ-2R, added as two line items on your quote.
- RH56DFQ-2L = left hand · RH56DFQ-2R = right hand
- Left and right are mirror builds — not interchangeable
- A full G1 EDU setup uses two — one left, one right
The Five-Finger Hand for the G1 EDU Higher Tiers
The Inspire RH56DFQ dexterous hand is the five-finger hand option for the G1 EDU family from the U2 tier up — including the EDU Ultimate A, B and C configurations — and it is the hand fitted on the H2-D. It mounts at the wrist interface and connects over RS485 or CAN, with ROS/ROS2 support for integration work.
This listing is the G1 EDU / H2-D version of the hand. Other members of the RH56 family — such as the wrist-equipped RH56DFXW — serve general integration projects outside this listing.
Specifications
| Left Hand | Right Hand | |
|---|---|---|
| Type | Five-finger force-controlled dexterous hand | Five-finger force-controlled dexterous hand |
| Model | RH56DFQ-2L — left hand | RH56DFQ-2R — right hand |
| Degrees of freedom | 6 active (thumb ×2, four fingers ×1 each) — 12 joints total | 6 active (thumb ×2, four fingers ×1 each) — 12 joints total |
| Actuation | 6 micro linear servo actuators | 6 micro linear servo actuators |
| Force sensing | 6 integrated pressure sensors | 6 integrated pressure sensors |
| Grip force resolution | 0.5 N | 0.5 N |
| Max grip force | Thumb 6 N · four fingers 4 N | Thumb 6 N · four fingers 4 N |
| Repeatability | ±0.20 mm | ±0.20 mm |
| Closing time | Under 0.4 s | Under 0.4 s |
| Thumb lateral rotation | > 65° | > 65° |
| Motion speed | Thumb side swing 235°/s · thumb flexion 150°/s · four-finger flexion 570°/s | Thumb side swing 235°/s · thumb flexion 150°/s · four-finger flexion 570°/s |
| Control | Force–position hybrid control, power-off self-locking | Force–position hybrid control, power-off self-locking |
| Communication | RS485 or CAN · ROS/ROS2 support | RS485 or CAN · ROS/ROS2 support |
| Operating voltage | DC 12–48 V | DC 12–48 V |
| Weight | 540 g | 540 g |
| Fits | Unitree G1 EDU (U2 and higher tiers) · Unitree H2-D | Unitree G1 EDU (U2 and higher tiers) · Unitree H2-D |
| In the box | Inspire RH56DFQ-2L dexterous hand — left hand | Inspire RH56DFQ-2R dexterous hand — right hand |
Shipping & Service
The hand ships worldwide by DHL or FedEx in protective industrial packaging; exact transit time is confirmed with your quote.
Every unit is 100% quality-inspected before it ships, so it arrives in perfect working order.
Last updated: September 2026.
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