RH56H1

At 470 g and just under 160 mm the RH56H1 is the smallest hand in Inspire's current line-up. Six motors inside the hand move five fingers through eleven joints; the thumb supplies at least 15 N, the fingertips at least 10 N, and each finger withstands a static load of 8 kg, though Inspire gives no figure for the whole hand. Closing takes up to 0.8 s and finger flexion exceeds 110 degrees per second.

The headline feature is a 1 kHz communication rate: the base version pairs RS-485 with CAN FD, the E6 version adds EtherCAT. The T2 variant integrates six tactile sensors rated to 30 N, with force resolved to 0.1 N. Supply spans 24 to 60 V, idle current is 160 mA and the peak 5 A. Inspire markets the hand as part of an open development ecosystem for humanoids and research. Price on request.

The all-metal RH56F1 is the stronger choice with the same actuator count, and for even smaller humanoids the DH116S Series is a rival worth checking.