Unitree H1 INSPIRE Dextrous Hand

5-Finger Dextrous Hand for Unitree H1

$8,900

The Unitree H1 Inspire Dextrous Hand is a high-precision robotic end effector featuring 6 degrees of freedom, 12 motorized joints, and one additional wrist degree of freedom — giving your Unitree H1 humanoid robot the ability to grasp, manipulate, and interact with objects in ways that closely mimic the human hand. Manufactured by Beijing Inspire-Robots Technology Co., Ltd. and purpose-built for integration with the Unitree H1 platform, this dexterous hand system unlocks advanced manipulation ca

Released: 2024

Overview

With a repeat positioning accuracy of ±0.20mm, maximum thumb grip force of 6N, and four-finger grip force of 4N, the Inspire hand delivers the precision and strength needed for tasks ranging from delicate object handling to tool use and assembly operations. The included wrist joint motor adds a critical rotational degree of freedom, enabling natural wrist articulation for more human-like manipulation.

Degrees of Freedom: 6 (hand) + 1 (wrist) = 7 total

Number of Joints: 12 motorized joints

Repeat Positioning Accuracy: ±0.20mm

Thumb Max Grip Force: 6N

Four-Finger Max Grip Force: 4N each

Hand Weight: ~500g

Supply Voltage: 24V DC

Communication Interface: RS485, CAN 2.0

Sensors: Built-in fingertip pressure sensors

Rated Torque: 3 Nm

Rated Speed: 120 RPM

Degrees of Freedom: 1 (rotational)

The Inspire Dextrous Hand with Wrist DOF is designed for direct integration with the Unitree H1 Humanoid Robot. It mounts to the H1's wrist interface and communicates via the robot's DDS middleware. Available in Left or Right hand configurations — please specify when ordering. This product is also compatible with the Unitree H1-2 and select configurations of the Unitree G1 (via the DFX Inspire interface). Contact our team to verify compatibility with your specific robot configuration.

At $8,900, the Unitree H1 Inspire Dextrous Hand with Wrist DOF is a significant investment in your robot's capabilities. Robozaps provides genuine Inspire-Robots hardware with full manufacturer warranty, insured shipping, and expert pre-sale consultation to ensure you order the correct hand (left/right) for your application. Our robotics specialists can also advise on complementary accessories including additional hands, batteries, and chargers. Enterprise pricing and bulk orders available — contact sales@robozaps.com.

This listing is for one (1) Inspire Dextrous Hand with one wrist DOF motor. To equip your Unitree H1 with both hands, you will need to purchase a left and right hand separately.

The Inspire hand (RH56 series by Inspire-Robots) features 6 DOF with 12 joints and 5 fingers, optimized for versatile manipulation. Unitree's own Dex3-1 is a 3-finger, 7-DOF force-controlled hand designed for the G1. The Dex5 is Unitree's latest 5-finger hand with 20 DOF. Each offers different trade-offs between dexterity, force control, and cost.

Yes. Unitree provides the open-source dfx_inspire_service package on GitHub, which handles communication between your control code and the Inspire hand via DDS topics. The hand is plug-and-play with the H1's existing software stack.

The Inspire RH56 series hand itself communicates via standard RS485 and CAN interfaces, so it can technically be integrated with other robotic platforms. However, the wrist mounting bracket and DDS integration in this listing are specifically designed for the Unitree H1. Custom integration with other robots may require additional mechanical and software adaptation.

Key Features

6 Degrees of Freedom + 1 Wrist DOF: The hand features 6 active DOF across 12 motorized joints for complex finger articulation, plus one wrist joint motor providing rotational freedom — totaling 7 DOF for comprehensive manipulation capability.
12 Precision Motor Joints: Each finger is driven by multiple high-precision micro motors, enabling independent finger movement, coordinated grasping patterns, and fine motor control for delicate manipulation tasks.
±0.20mm Repeat Positioning Accuracy: Industry-leading positional repeatability ensures consistent, reliable performance across thousands of grasp-and-release cycles — critical for research reproducibility and industrial quality control.
Optimized Grip Force: Thumb maximum grip force of 6N and four-finger grip force of 4N provide sufficient strength for handling everyday objects, tools, and lightweight components while maintaining delicate touch capability.
RS485 and CAN Communication: Dual communication interfaces (RS485 and CAN bus) enable high-speed, real-time control integration with the Unitree H1 control system, supporting up to 1kHz communication frequency for responsive manipulation.
Lightweight 500g Design: At just 500 grams (hand only), the Inspire hand minimizes the payload impact on the H1's arm joints, preserving the robot's dynamic performance and energy efficiency during extended operations.
Built-In Pressure Sensors: Integrated fingertip pressure sensors with configurable threshold values enable adaptive gripping — automatically adjusting force based on object hardness and fragility.

Applications & Use Cases

Research & Academia: Ideal for manipulation research, reinforcement learning experiments, imitation learning, and dexterous grasping studies. The high repeatability and open-source SDK make it perfect for publishing reproducible results.

Industrial Automation: Pick-and-place operations, light assembly tasks, quality inspection handling, and tool use in semi-structured environments where traditional grippers lack versatility.

Service Robotics: Enables humanoid robots to interact naturally with human environments — opening doors, pressing buttons, handling household objects, and performing assistive tasks.