CRJ200 Captain describes a very firm landing performed by a new First Officer and writes it up as a hard landing. Maintenance reports that the vertical speed at touch down was just shy of the hard landing definition.

Narrative

On visual approach the First Officer was the flying pilot and commented that we seemed a bit high. I stated 'we are high' and the First Officer adjusted the descent rate to around 900 FPM. The approach did not exceed the stabilized approach criteria. Just prior to touchdown; I looked at the VSI and it showed 700 FPM. There was no flare before touchdown; making the landing a bit firm. I was concerned about a hard landing and we discussed the definition of one at the gate. I called Maintenance for what they considered a hard landing and at our landing weight; just shy of 40;000 LBS; anything over 600 FPM would be a hard landing. Since I thought we touched down at 700 FPM or just short of that; I requested a hard landing inspection. Dispatch asked if any passengers were injured or commented on the landing; and I told them no as I was standing in the doorway; as I always do; saying 'thank you' and 'good day' to the passengers. The airplane was removed from service. I found out later in the day that the touch down had occurred around 560 FPM; making the landing firm; but not 'hard'.As the pilot not flying; I should have been more aware of the approach. When flying with a probationary pilot; I need to realize that their skills of handling the plane may not be as seasoned as mine and when someone says 'we are high'; I should not hesitate to ask if they would like to 'go-around'; regardless if I think the approach is fine. Had the approach exceeded the stabilized limits or the landing not taken place in the touchdown zone; I would have called for a 'go-around'. I requested the hard landing inspection out of caution and the fact that I was not exactly sure if we had exceeded the limits for a hard landing or not.