About
Description
Unitree Dex3-1 Tactile Dexterous Hand
Three-Finger Force-Controlled Dexterous Hand for Precise Object Manipulation
The Unitree Dex3-1 is a three-finger dexterous hand combining force-position hybrid control for sensitive, reliable operation. It simulates the human hand to achieve precise manipulation of objects, making it ideal for humanoid robot applications. Designed for use with the Unitree G1 humanoid robot, it executes a wide range of complex actions.
Key Features
7 Degrees of Freedom, 7 Joints
Each hand features 7 DOF across 7 moving joints: 6 micro brushless force-controlled joints with direct drive, plus 1 micro brushless force-controlled joint with gear transmission. The thumb has 3 joints, the index finger 2, and the middle finger 2.
33 Tactile Sensors per Hand
Nine sensor arrays (33 pressure sensors total) provide comprehensive tactile perception: palm 2×2 ×3, finger pad 2×2 ×3, fingertip 3×1 ×3.
Precision Control
Fingertip repeat positioning accuracy of ±2 mm ensures repeatable, controlled movements for delicate tasks.
Force-Position Hybrid Control
Joint stiffness and damping coefficients are adjustable, enabling tailored control strategies for different grasping scenarios.
High-Speed Communication
1000 Hz communication rate with real-time feedback of joint position, velocity, torque, temperature, voltage/current, sensor pressure values, and IMU data.
Compact and Lightweight
At just 710 g and 175 × 88 × 77 mm, the Dex3-1 minimizes payload impact while maintaining robust structural integrity.
Body Parameters
| Weight | 710 g |
|---|---|
| Dimensions | 175 × 88 × 77 mm |
| Degrees of Freedom | 7 (Thumb ×3, Index ×2, Middle ×2) |
| Transmission | 6× micro brushless force-controlled joints (direct drive) + 1× gear transmission |
| Fingertip Repeat Accuracy | ±2 mm |
| Operating Voltage | 12 – 58 V |
| Static Current | 58 V @ 0.2 A |
| Maximum Current | 10 A |
| Communication Interface | USB 2.0 |
| Operating Temperature | -20°C to 60°C |
Joint Angle Ranges
| Joint | Range |
|---|---|
| Thumb Joint 0 | -60° to 60° |
| Thumb Joint 1 | -35° to 60° |
| Thumb Joint 2 | 0° to 100° |
| Index Joint 0 | 0° to 90° |
| Index Joint 1 | 0° to 100° |
| Middle Joint 0 | 0° to 90° |
| Middle Joint 1 | 0° to 100° |
Load Capacity
Room temperature, palm facing down, grasping 5 cm round hard object.
| Maximum Load | 500 g |
|---|---|
| Peak Power | 400 W @ 3 s |
Room temperature, palm facing left, grasping 5 cm round hard object — same ratings: 500 g max load, 400 W @ 3 s peak power.
Perception Parameters
| Sensor Arrays | 9 (33 pressure sensors total) |
|---|---|
| Array Resolution | Palm: 2×2 ×3 / Finger pad: 2×2 ×3 / Fingertip: 3×1 ×3 |
| Perception Range | 10 g – 2500 g |
| Maximum Withstand Force (no damage) | 20 kg |
Software & Communication
| Communication Rate | 1000 Hz |
|---|---|
| Packet Size (TX) | 1234 bytes |
| Packet Size (RX) | 1270 bytes |
| Perception Feedback | Joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure, sensor temperature, IMU data |
| Control Feedback | Joint mode, position, velocity, torque, stiffness coefficient, damping coefficient |
Micro Brushless Force-Controlled Joints
| Parameter | F-1515-108 | F-1515-214 |
|---|---|---|
| Weight | 45 g | 45 g |
| Dimensions | 34.8 × 23.1 × 23.3 mm | 34.8 × 23.1 × 23.3 mm |
| Reduction Ratio | 1:108 | 1:214 |
| Max Torque (ideal) | 0.76 Nm | 1.498 Nm |
| Max Torque (actual, same direction) | 0.49 Nm | 0.86 Nm |
| Max Torque (actual, opposite direction) | 1.37 Nm | 3.1 Nm |
| Max Speed | 23 rad/s | 11 rad/s |
| Max Line Current | 4.76 A | — |
| Communication Control Frequency | 1000 Hz | 1000 Hz |
| Communication Method | High-speed single bus | High-speed single bus |
| Encoder | Rotor absolute encoder | Rotor absolute encoder |
| Operating Environment | -20°C to 60°C | -20°C to 60°C |
| Operating Voltage | 12 – 24 V | 12 – 24 V |
| Motor Feedback | Torque, angle, angular velocity, temperature | Torque, angle, angular velocity, temperature |
| Motor Control Commands | Torque, angle, angular velocity, stiffness, damping | Torque, angle, angular velocity, stiffness, damping |
Important Notes
- Dimensions are measured with the dexterous hand in a flat position.
- Maximum withstand force (20 kg) is measured under vertical pressure from a 1 cm diameter cylinder; actual values vary by application scenario.
- This is a civilian robotics product. Do not modify or use it for dangerous applications.
- Please comply with local laws and regulations.
Package Contents
2× Unitree Dex3-1 Tactile Dexterous Hand
Description
Unitree Dex3-1 Tactile Dexterous Hand
Three-Finger Force-Controlled Dexterous Hand for Precise Object Manipulation
The Unitree Dex3-1 is a three-finger dexterous hand combining force-position hybrid control for sensitive, reliable operation. It simulates the human hand to achieve precise manipulation of objects, making it ideal for humanoid robot applications. Designed for use with the Unitree G1 humanoid robot, it executes a wide range of complex actions.
Key Features
7 Degrees of Freedom, 7 Joints
Each hand features 7 DOF across 7 moving joints: 6 micro brushless force-controlled joints with direct drive, plus 1 micro brushless force-controlled joint with gear transmission. The thumb has 3 joints, the index finger 2, and the middle finger 2.
33 Tactile Sensors per Hand
Nine sensor arrays (33 pressure sensors total) provide comprehensive tactile perception: palm 2×2 ×3, finger pad 2×2 ×3, fingertip 3×1 ×3.
Precision Control
Fingertip repeat positioning accuracy of ±2 mm ensures repeatable, controlled movements for delicate tasks.
Force-Position Hybrid Control
Joint stiffness and damping coefficients are adjustable, enabling tailored control strategies for different grasping scenarios.
High-Speed Communication
1000 Hz communication rate with real-time feedback of joint position, velocity, torque, temperature, voltage/current, sensor pressure values, and IMU data.
Compact and Lightweight
At just 710 g and 175 × 88 × 77 mm, the Dex3-1 minimizes payload impact while maintaining robust structural integrity.
Body Parameters
| Weight | 710 g |
|---|---|
| Dimensions | 175 × 88 × 77 mm |
| Degrees of Freedom | 7 (Thumb ×3, Index ×2, Middle ×2) |
| Transmission | 6× micro brushless force-controlled joints (direct drive) + 1× gear transmission |
| Fingertip Repeat Accuracy | ±2 mm |
| Operating Voltage | 12 – 58 V |
| Static Current | 58 V @ 0.2 A |
| Maximum Current | 10 A |
| Communication Interface | USB 2.0 |
| Operating Temperature | -20°C to 60°C |
Joint Angle Ranges
| Joint | Range |
|---|---|
| Thumb Joint 0 | -60° to 60° |
| Thumb Joint 1 | -35° to 60° |
| Thumb Joint 2 | 0° to 100° |
| Index Joint 0 | 0° to 90° |
| Index Joint 1 | 0° to 100° |
| Middle Joint 0 | 0° to 90° |
| Middle Joint 1 | 0° to 100° |
Load Capacity
Room temperature, palm facing down, grasping 5 cm round hard object.
| Maximum Load | 500 g |
|---|---|
| Peak Power | 400 W @ 3 s |
Room temperature, palm facing left, grasping 5 cm round hard object — same ratings: 500 g max load, 400 W @ 3 s peak power.
Perception Parameters
| Sensor Arrays | 9 (33 pressure sensors total) |
|---|---|
| Array Resolution | Palm: 2×2 ×3 / Finger pad: 2×2 ×3 / Fingertip: 3×1 ×3 |
| Perception Range | 10 g – 2500 g |
| Maximum Withstand Force (no damage) | 20 kg |
Software & Communication
| Communication Rate | 1000 Hz |
|---|---|
| Packet Size (TX) | 1234 bytes |
| Packet Size (RX) | 1270 bytes |
| Perception Feedback | Joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure, sensor temperature, IMU data |
| Control Feedback | Joint mode, position, velocity, torque, stiffness coefficient, damping coefficient |
Micro Brushless Force-Controlled Joints
| Parameter | F-1515-108 | F-1515-214 |
|---|---|---|
| Weight | 45 g | 45 g |
| Dimensions | 34.8 × 23.1 × 23.3 mm | 34.8 × 23.1 × 23.3 mm |
| Reduction Ratio | 1:108 | 1:214 |
| Max Torque (ideal) | 0.76 Nm | 1.498 Nm |
| Max Torque (actual, same direction) | 0.49 Nm | 0.86 Nm |
| Max Torque (actual, opposite direction) | 1.37 Nm | 3.1 Nm |
| Max Speed | 23 rad/s | 11 rad/s |
| Max Line Current | 4.76 A | — |
| Communication Control Frequency | 1000 Hz | 1000 Hz |
| Communication Method | High-speed single bus | High-speed single bus |
| Encoder | Rotor absolute encoder | Rotor absolute encoder |
| Operating Environment | -20°C to 60°C | -20°C to 60°C |
| Operating Voltage | 12 – 24 V | 12 – 24 V |
| Motor Feedback | Torque, angle, angular velocity, temperature | Torque, angle, angular velocity, temperature |
| Motor Control Commands | Torque, angle, angular velocity, stiffness, damping | Torque, angle, angular velocity, stiffness, damping |
Important Notes
- Dimensions are measured with the dexterous hand in a flat position.
- Maximum withstand force (20 kg) is measured under vertical pressure from a 1 cm diameter cylinder; actual values vary by application scenario.
- This is a civilian robotics product. Do not modify or use it for dangerous applications.
- Please comply with local laws and regulations.
Package Contents
2× Unitree Dex3-1 Tactile Dexterous Hand
Unitree
by
Unitree
Unitree Dex3-1 Tactile Dexterous Hand
SKU:
R1-DEX3-3FINGERHAND-TACTILE-PAIR
- Regular price
- $17,360.00
- Sale price
- $17,360.00
- Regular price
-
Shipping calculated at checkout.
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
