The RH56E2 is Inspire Robots' heavy-load dexterous hand — delivering 30N thumb grip force and 28N per-finger force alongside an integrated tactile sensor array for contact-aware manipulation. Built on a hybrid force-position-tactile control algorithm, it mimics human hand gripping capability and provides real-time localized feedback across the palm surface.

The RH56E2 is available in two tactile configurations: T1 Resistive (17 sensors, 0–30N range) for high-force contact detection, and T2 Capacitive (5 sensors, 0–20N range) for finer sensitivity at lower force levels. Both configurations support RS485, CAN, and ModbusTCP on a single unit. Power-off self-locking holds the grip without continuous power. Directly compatible with the Unitree G1 and H2 humanoid robot platforms.

Key Features

• 30N thumb / 28N per-finger grip force — strongest grip in the accessible RH56 lineup; comparable to human hand grasping force
• Integrated tactile sensor array — T1 Resistive: 17 sensors, 0–30N range / T2 Capacitive: 5 sensors, 0–20N range
• Force resolution 0.05N — 10× finer than the RH56BFX/DFX; enables precise grip force modulation
• Hybrid force-position-tactile control — three sensing modalities working simultaneously for stable, adaptive grasping
• Triple protocol support — RS485, CAN, and ModbusTCP on a single unit; no additional adapters required
• ≥5 independent force sensors — real-time per-finger force distribution feedback
• Power-off self-locking — holds grip position without power; no repositioning required on startup
• ±0.20mm repeatability — sub-millimeter precision across all 6 DOF
• Unitree G1 / H2 compatible — direct integration with Unitree humanoid robot platforms
• ROS / ROS 2 compatible — plugins available for direct integration
• Left and right hand configurations — available as matched pairs for bimanual setups

T1 vs T2 Tactile Configuration

Specifications

Use Cases

• Humanoid robot hand integration — direct replacement or upgrade for Unitree G1 and H2 platforms
• Contact-rich manipulation — tasks requiring real-time tactile awareness: assembly, sorting, object classification by feel
• Prosthetics research and development — human-comparable grip force with tactile sensing for assistive device programs
• Cognitive robotics research — localized tactile data enables object recognition and texture differentiation through touch
• Fragile object handling — tactile feedback prevents overgrip on delicate items; force thresholds adjustable per task
• Embodied AI training datasets — high-fidelity force and tactile data for dexterous manipulation model development
• VR teleoperation with haptic feedback — force and tactile data streams for closed-loop operator feedback systems
• Unmanned laboratory automation — handling pipettes, vials, and varied lab consumables with tactile awareness

Compatibility

• Humanoid robots: Unitree G1, Unitree H2 (direct, also sold as RH56DFTP)
• Control: ROS / ROS 2 (plugins available), RS485, CAN, and ModbusTCP systems
• Robotic arms: Universal Robots (UR), Kinova, UFactory xArm, Franka, and other RS485/CAN-compatible arms
• Teleoperation input: MANUS Prime 3 Haptic Metagloves, MANUS Quantum Metagloves
• Wrist mount: Standard humanoid wrist flanges — Ø38mm and Ø50mm