Unitree Dex3-1
Power Control Dexterous Hand, Operate Everything
Combined with force and position hybrid control, it is sensitive and reliable,
and can simulate the precise operation of the object
Collect data, Sensitive and Accurate
Dex3-1
Dex3-1 three-finger dexterous hand, with 7 degrees of freedom 7 motion off machine: 6 micro brushless force control joint direct drive, 1 micro brushless force control joint gear drive, one hand with 33 tactile sensors. It can be used with G1 humanoid robot to perform various complex actions.
Product Parameters
🤖 Unitree Dex3-1 Dexterous Hand – Technical Specification Table
| Category | Parameter | Value |
|---|---|---|
| 🧱 Body Parameters | Weight | 710g |
| Size | 175mm × 88mm × 77mm | |
| Degrees of Freedom | Thumb × 3, Index × 2, Middle × 2 | |
| Transmission Mechanism | 6 Direct Drive Motors + 1 Gear Drive Motor | |
| Fingertip Sensors | 33 Tactile Sensors | |
| 🔩 Joint Angles | Thumb Joint 0 | -60° ~ 60° |
| Thumb Joint 1 | -35° ~ 60° | |
| Thumb Joint 2 | 0° ~ 100° | |
| Index Finger Joint 0 | 0° ~ 90° | |
| Index Finger Joint 1 | 0° ~ 100° | |
| Middle Finger Joint 0 | 0° ~ 90° | |
| Middle Finger Joint 1 | 0° ~ 100° | |
| 🎯 Performance | Repeat Positioning Accuracy | ±2mm |
| Working Voltage | 12V ~ 58V | |
| Static Current @ 58V | 0.2A | |
| Max Current | 10A | |
| Working Temperature Range | -20°C ~ 60°C | |
| 🧪 Load Conditions | Max Grasping Weight (Palm Down) | 500g |
| Max Power (Palm Down) | 400W @ 3s | |
| Max Grasping Weight (Palm Left) | 500g | |
| Max Power (Palm Left) | 400W @ 3s | |
| 📡 Sensing Parameters | Pressure Sensors | 9 (Total: 33) |
| Palm Sensor Array Resolution | 2×2 × 3 | |
| Finger Pad Sensor Array Resolution | 2×2 × 3 | |
| Fingertip Sensor Array Resolution | 3×1 × 3 | |
| Perception Range | 10g ~ 2500g | |
| Max Acceptance (Undamaged) | 20kg | |
| 🔌 Communication | Interface | USB2.0 |
| Rate | 1000Hz | |
| Full Packet Size | Sender: 1234 bytes / Receiver: 1270 bytes | |
| 🧠 Feedback Channels | Perceptual Feedback | Joint Mode, Position, Velocity, Torque, Temperature, Voltage, Current, Sensor Pressure & Temperature, IMU |
| Control Feedback | Joint Mode, Position, Velocity, Torque, Stiffness, Damping | |
| ⚙️ Joint Module Specs | Model | F-1515-108 / F-1515-214 |
| Weight | 45g | |
| Size | 34.8mm × 23.1mm × 23.3mm | |
| Reduction Ratio | 1:108 / 1:214 | |
| Max Torque (Ideal) | 0.76Nm / 1.498Nm | |
| Max Torque (Actual, Same Direction) | 0.49Nm / 0.86Nm | |
| Max Torque (Actual, Opposite Direction) | 1.37Nm / 3.1Nm | |
| Max Rotational Speed | 23 rad/s / 11 rad/s | |
| Max Line Current | 4.76A | |
| Control Frequency | 1000Hz | |
| Communication Method | High-Speed Unibus | |
| Encoder Type | Rotor Absolute Value Encoder | |
| Working Voltage | 12V ~ 24V | |
| IP Rating | Not specified | |
| Motor Feedback | Torque, Angle, Angular Velocity, Temperature | |
| Motor Control | Torque, Angle, Angular Velocity, Stiffness, Damping |