🤖 Unitree Dex5-1 Dexterous Hand
Smart Adaptability. Instant Responsiveness.
🧠 20 Degrees of Freedom for Natural Motion
With 16 active joints + 4 passive, Dex5-1 mimics human hand dynamics with remarkable precision. Each finger joint supports smooth backdrivability, eliminating the “stiff hand” effect and enabling fluid motion—perfect for reinforcement learning (RL) and adaptive control.
⚡ Ultra-Fast Reflexes & Modular Design
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🖐️ Five independently replaceable fingers
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🔄 ±22° lateral swing for enhanced grip on curved surfaces
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🐍 Snake-like flexibility for dynamic grasping tasks
🎯 Precision Feedback, Millimeter-Level Control
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🧪 94 tactile sensors per hand
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🧬 Supports secondary development of tactile algorithms
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🔩 High-power density hollow-cup motors
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⚙️ Low-damping, micro-clearance reducers for smoother joint motion
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🌀 Joint axis positioned close to surface for fluid grasping without snagging
📐 Technical Parameters
| Feature | Dex5-1 / Dex5-1P |
|---|---|
| 🔩 Size | 217.3mm × 127.5mm × 72.1mm |
| ⚖️ Weight | 1000g |
| 🧠 Degrees of Freedom | Thumb ×4, Index ×3, Middle ×3, Ring ×3, Little ×3 |
| 🔧 Transmission Mechanism | 12 micro force-controlled composite joints + 4 gear-driven joints |
| 🔄 Joint Angles (Thumb) | -33.5° ~ 39°, 0° ~ 100°, 0° ~ 110°, 0° ~ 92° |
| 🔄 Joint Angles (Fingers) | -22° ~ 22°, 0° ~ 90°, 0° ~ 95°, 0° ~ 81° |
| 🔁 Lateral Swing | ±22° |
| 📏 Minimum Grip Diameter | 10mm |
| 🎯 Positioning Accuracy | ±1mm |
| 💪 Fingertip Force | 10N |
| 🔋 Working Voltage | 24V ~ 60V |
| 🔌 Static Current @58V | 0.2A |
| ⚡ Max Current @58V | 3A |
| 🔗 Communication Interface | USB2.0 |
| 🌡️ Operating Temperature | -20°C ~ 60°C |
🧪 Load Capacity
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🖐️ Palm Down Grip: Up to 3.5kg
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🖐️ Palm Side Grip: Up to 4.5kg
📡 Sensor & Feedback System
| Sensor Type | Details |
|---|---|
| 🔍 Pressure Sensors | 94 total (12 modules) |
| 🧬 Array Resolution | Palm: 2×5, Finger Pad: 2×3×5, Fingertip: 2×3×5, Finger Root: 2×3×4 |
| 🧠 Perception Range | 10g ~ 2500g |
| 🛡️ Max Load (Undamaged) | 20kg |
🔧 Software & Control
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🔁 Communication Rate: 1000Hz
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📦 Data Packet: Sender – 1234 bytes / Receiver – 1270 bytes
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🧠 Perceptual Feedback: Joint mode, position, velocity, torque, temperature, voltage, current, IMU, pressure, and temperature sensors
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