You should make a QoS Rule (Priority of 127 or lower) based on the IP Address (Static) that you have assigned to the HR-20; define the port(s) as "Both" (UDP and TCP). If you allowing the HR-20 to pull an dynamic IP Assignment from the built-in DHCP Server on the DIR-655, then, go to the SETUP tab and the NETWORK SETTING page; once there, define a DHCP Reservation for the HR-20. The Reservation will insure that the HR-20 is given the same IP Address everytime; that way your QoS Rule will be correct for the HR-20 device.
If your like me you could open the WebUI of the Router and go to the STATUS tab and the INTERENET SESSION page, to see what ports the HR-20 is actually communicating on; these may require more time. This process is a bit tedious, and if the HR-20 is not using the same ports everytime... well... then, it my be futile to attempt this.
I'll look into the communication process of the HR-20, and effectively... the "HR" series as a whole, a bit further, and post back with updated info. Thank you for the post! Please keep us informed of any updates.
P.S. ...The INTERNET SESSION page also has a QoS "Priority" Column which will allow you to view the actual priority of each Internet communication; as well as, an "Direction" Column to show if it is Egress (Outbound) or Ingress (Inbound) to and from the Internet.