We present direct measurements of the hyperfine splitting of Rydberg states in rubidium 87 using Electromagnetically Induced Transparency (EIT) spectroscopy in a room-temperature vapour cell. With this method, and in spite of Doppler-broadening, line-widths of 3.7 MHz FWHM, i.e. significantly below the intermediate state natural linewidth are reached. This allows resolving hyperfine splittings for Rydberg s-states with n=20...24. With this method we are able to determine Rydberg state hyperfine splittings with an accuracy of approximately 100 kHz. Ultimately our method allows accuracies of order 5 kHz to be reached. Furthermore we present a direct measurement of hyperfine-resolved Rydberg state Stark-shifts. These results will be of great value for future experiments relying on excellent knowledge of Rydberg-state energies and
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