He worked as a mathematician while his wife Joan was a dancer in Sadler's Wells ballet in the late 1940s.
Dame Ninette de Valois announced that the Royal Opera House would be using the Benesh Movement Notation.
In the following year, Rudolf and Joan wrote An Introduction to Benesh Dance Notation.
In 1968 some dances of the Australian Aboriginal dancers of Northern Territory were notated by a group of anthropology students.
The Royal Academy of Dance, in conjunction with the University of Surrey, produced software in the 1990s for inputting the notation and printing it out.