The RH5DG2 — G2 Series — is Inspire Robots' most advanced dexterous hand and the highest-DOF platform in the lineup. With 13 active degrees of freedom and 18 joints, it reproduces a significantly broader range of human hand kinematics than any 6-DOF hand, including independent lateral swing of the index and middle fingers (±15°) and a thumb rotation range of 60–170°. Despite this capability, the G2 remains compact and lightweight at 990g through an all-metal integrated skeleton design.

Force, position, and temperature sensing operate simultaneously via a modular multi-modal sensor architecture. Eight high-sensitivity tactile sensors in the palm deliver 30N range at 5% FS accuracy. Over 30 built-in motion presets are available out of the box. EtherCAT communication at 1 kHz enables deterministic real-time control across all 13 DOF. Available in EtherCAT + CAN FD or EtherCAT + RS485, with the full multi-protocol stack — EtherCAT, CAN FD, and RS485 — accessible on a single unit.

Key Features

• 13 active DOF / 18 joints — highest kinematic fidelity in the Inspire Robots lineup; broader range of human hand motion than any 6-DOF platform
• Index and middle finger lateral swing ±15° — unique capability enabling finger spreading, precision pinch variants, and more natural grasp postures
• 20N fingertip force / 300N whole-hand passive load — 8 kg passive load per finger
• 8 high-sensitivity tactile sensors in the palm — 30N range, 5% FS accuracy for localized contact detection
• Force + Position + Temperature multi-modal sensing — modular design with all three sensing categories operating simultaneously
• 1 kHz EtherCAT real-time communication — deterministic control across all 13 DOF
• 30+ built-in motion presets — standard grasp patterns and gestures available out of the box
• All-metal integrated skeleton — superior structural rigidity with compact 990g form factor
• Multi-protocol on a single unit — EtherCAT, CAN FD, and RS485 all accessible simultaneously
• ±0.2mm repeatability — sub-millimeter precision across all 13 DOF
• Modular design — flexible, reliable, and easy to maintain in the field

Specifications

Use Cases

• Advanced humanoid robotics research — 13 DOF enables grasp repertoires and finger postures not achievable with 6-DOF hands
• Bimanual dexterous manipulation — paired left/right G2 hands for complex two-handed tasks requiring high kinematic fidelity
• Embodied AI and robot learning — rich 13-DOF + multi-modal sensor data for training dexterous manipulation policies
• NVIDIA Isaac Lab / Isaac Sim pipelines — high-DOF simulation-to-real transfer requiring precise joint-level control
• Contact-rich assembly tasks — 300N whole-hand passive load and 20N fingertip force handle demanding industrial grasping
• Haptic teleoperation research — force and tactile data streams enable closed-loop operator feedback at 1 kHz
• Prosthetics and assistive technology research — highest kinematic fidelity platform for human-hand mimicry studies

Compatibility

• Control: ROS / ROS 2 (EtherCAT master required), EtherCAT, CAN FD, and RS485 systems
• AI / Simulation: NVIDIA Isaac Lab, NVIDIA Isaac Sim
• Robotic arms: EtherCAT-compatible humanoid robot arms and mobile manipulators
• Full-body teleoperation: Xsens Link motion capture system, MANUS Prime 3 / Quantum Metagloves
• Power: 14V–48V power supplies (wider range than F1)
• Wrist mount: Standard humanoid wrist flanges — Ø38mm and Ø50mm