5-Finger Dexterous Robotic Hand
• 6 Degrees of Freedom & 12 Motor Joints for human-like multi-finger grasping
• 15N Thumb + 10N Finger Tip Force with integrated real-time force sensing
• ±0.20mm Sub-Millimeter Repeatability for precise, consistent grip execution
• RS485 / MODBUS Control Interface with full ROS compatibility and plug-in support
• Available in Left Hand (RH56DFX-2L) & Right Hand (RH56DFX-2R) — 540g each
- Trusted dealerDirect manufacturer partnership
- Pan-India deliveryInsured shipping, all states
- Post-sale supportTraining + service included
What makes it work
Human-Scale Grasping for Demanding Applications
The RH56DFX-2 dexterous hand from Inspire Robots delivers the force, precision, and responsiveness required for professional robotic manipulation. Featuring six miniature linear servo actuators as core motion elements, the hand achieves 6 degrees of freedom across 12 motor joints — all within a form factor that closely matches the size of an adult human hand.
An integrated force sensor in each finger enables real-time tactile feedback, allowing the hand to distinguish grip pressure and adapt to objects of varying stiffness. With a thumb fingertip strength of 15N, a per-finger strength of 10N, and a force resolution of 0.50N, the RH56DFX-2 is purpose-built for grasping tasks that demand both strength and sensitivity. Available in left-hand (RH56DFX-2L) and right-hand (RH56DFX-2R) configurations.
What Sets the RH56DFX-2 Apart
6 Degrees of Freedom
Six independent motion axes — powered by miniature linear servo actuators — enable complex multi-finger grasping that mirrors natural hand mechanics.
12 Motor Joints
Each of the 12 joints is individually driven and monitored, providing fine-grained positional control across the full range of finger motion.
Sub-Millimeter Repeatability
A positioning repeatability of ±0.20mm ensures consistent, reliable execution of programmed grasps — cycle after cycle.
Integrated Force Sensing
Six built-in force sensors deliver real-time tactile feedback at 0.50N resolution, enabling adaptive grip control for objects of varying rigidity.
Human-Scale Form Factor
Sized to closely match an adult human hand (80.7mm wide, 217.8mm long), the RH56DFX-2 integrates naturally into humanoid and service robot platforms.
RS485 Control Interface
Communicates via RS485 with MODBUS protocol support, enabling straightforward integration with standard robotic arms, controllers, and ROS environments.
Precision-Force Dexterous Hand, Built at Human Scale
The RH56DFX-2 represents a purpose-designed dexterous hand engineered for applications where grip strength and tactile sensitivity must coexist. Its core architecture relies on six miniature linear servo actuators — a departure from conventional cable-driven or gear-driven designs — which delivers tightly controlled linear motion across each degree of freedom while keeping the overall profile compact.
The hand ships in two mirror-image configurations: the RH56DFX-2L (left hand) and RH56DFX-2R (right hand), each weighing 540g and operating on a DC 24V ±10% supply. With a quiescent current of just 0.09A and a peak current of 2A, the RH56DFX-2 is energy-efficient across sustained operational periods.
Integrated Sensing for Real-World Manipulation
One of the most significant engineering decisions in the RH56DFX-2 is its embedded force sensing at every finger. Each fingertip sensor provides force feedback at a resolution of 0.50N, allowing the control system to monitor and adjust grip pressure dynamically. The thumb delivers up to 15N of fingertip force while the remaining four fingers each contribute 10N — enough to handle substantial payloads while retaining the ability to handle delicate items without damage.
The four-finger flexion speed of 260°/s allows the hand to form grasps quickly, while the thumb's lateral rotation capability of greater than 65° and lateral rotation speed of 107°/s provide the opposition and pinch geometries needed for diverse object shapes. The thumb flexion speed of 70°/s supports deliberate, controlled thumb movements during complex grasp transitions.
High-Force Grasping with Sub-Millimeter Precision
The RH56DFX-2 maintains a positioning repeatability of ±0.20mm — a specification that directly reflects the linear servo actuator's closed-loop position control. This means the hand returns to programmed positions with consistent accuracy, which is critical for tasks such as assembly, sorting, or object handoff in automated pipelines.
The RS485 interface, operating with the MODBUS communication protocol, allows straightforward command-response interaction with external controllers. Integration with ROS is supported and ROS plug-ins are available, enabling researchers and developers to leverage the established robotics middleware ecosystem without requiring custom communication layers. Mechanical mounting is standardised through the palm-face flange geometry (Ø38mm and Ø12mm bolt patterns visible in the engineering drawings), ensuring compatibility with common robotic arm end-effectors.
From Service Robots to Special Industries
The RH56DFX-2's combination of human-scale dimensions, strong grip force, and real-time force feedback makes it deployable across a wide range of professional contexts. In service robotics, the hand enables tasks such as welcome reception, unmanned retail product handling, and building services. In healthcare and accessibility settings, it supports elderly assistance and prosthetic applications where moderate speed and reliable force control are prioritised over maximum actuation rate.
For research and industrial deployments, the RH56DFX-2 is suited to manipulation studies, AI training data collection, and hazardous environment operations where a reliable, controllable end-effector is required. The standardised RS485/MODBUS interface ensures the hand integrates cleanly with the robotic platforms already in use across these domains.
Designed for the Real World
The RH56DFX-2 operates across diverse professional environments — wherever human-like grasping capability is required of a machine.
RH56DFX-2L & RH56DFX-2R — Full Spec Table
Specifications apply equally to the left-hand model (RH56DFX-2L) and right-hand model (RH56DFX-2R) unless otherwise noted.
| Specification | RH56DFX-2L (Left Hand) | RH56DFX-2R (Right Hand) |
|---|---|---|
| GENERAL | ||
| Wrist | Not included (null) | Not included (null) |
| Control Interface | RS485 | RS485 |
| Degrees of Freedom | 6 | 6 |
| Number of Joints | 12 | 12 |
| Weight | 540 g | 540 g |
| ELECTRICAL | ||
| Operating Voltage | DC 24V ±10% | DC 24V ±10% |
| Quiescent Current | 0.09 A | 0.09 A |
| Peak Current | 2 A | 2 A |
| PRECISION & FORCE | ||
| Repeatability | ±0.20 mm | ±0.20 mm |
| Thumb Fingertip Strength | 15 N | 15 N |
| Finger Fingertip Strength | 10 N | 10 N |
| Force Resolution | 0.50 N | 0.50 N |
| MOTION | ||
| Lateral Rotation Range of Thumb | >65° | >65° |
| Lateral Rotation Speed of Thumb | 107°/s | 107°/s |
| Flexion Speed of Thumb | 70°/s | 70°/s |
| Flexion Speed of Four Fingers | 260°/s | 260°/s |
| WRIST (N/A for -2L / -2R Models) | ||
| Wrist Yaw Movement | Not applicable | Not applicable |
| Wrist Pitch Movement | Not applicable | Not applicable |
| Wrist Load Torque | Not applicable | Not applicable |
| DIMENSIONS (from engineering drawings) | ||
| Palm Width | 80.7 mm | 80.7 mm |
| Overall Length | 217.8 mm | 217.8 mm |
| Thumb Finger Width | 31.2 mm | 31.2 mm |
| Flange Bolt Pattern — Large | 4 × Ø8.0 mm | 4 × Ø8.0 mm |
| Flange Bolt Pattern — Small | 4 × Ø3.5 mm | 4 × Ø3.5 mm |
| Centre Bore | Ø12.0 mm | Ø12.0 mm |
| COMPATIBILITY | ||
| ROS Support | Yes (plug-ins available) | Yes (plug-ins available) |
| Communication Protocol | MODBUS (RS485) | MODBUS (RS485) |
| Suitable For | Service robots, prosthetics, research platforms | Service robots, prosthetics, research platforms |
RH56DFX Series — Video Demonstrations
Common Questions About the RH56DFX-2
The full sheet
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