Hundreds of protesters are currently detained since nationwide protests began last December aimed at bringing down President Omar al-Bashir who has been in power for 30 years.
Authorities last month released some over 150 people arrested during weeks of protests.
However, hundreds are still being held in detention centres across Sudan including political party leaders.
Tuesday’s protesters handed protest letters to the commission’s office in which they called for an end to the detention of their relative, describing the crackdown against them as unconstitutional.
They expressed concerns over health situations of their detained relatives, saying “some of them suffer from different diseases and need regular consultations with their doctors and some of them are over eighty years old.
“We hold the President of the Republic, the Minister of Justice and the Director of the Security Service responsible for their health, their lives and any harm caused to them” they warned.