Three-finger force-controlled dexterous hand, 7 degrees of freedom
Dex3-1 Dexterous Hand
Unitree Dex3-1 Three-Finger Dexterous Hand features 7 degrees of freedom and 7 actuated joints (6 micro brushless torque-controlled direct-drive joints + 1 geared joints), with 33 tactile sensors per hand. Leveraging hybrid force-position control, it replicates human hand dexterity for precise object manipulation and is compatible with the G1 humanoid robot.
Specifications
Technical Specifications
Weight
710g
Size
175mm x 88mm x 77mm
Degrees of Freedom
7 (Thumb 3 / Index Finger 2 / Middle Finger 2)
Transmission mechanism
6 micro brushless force-controlled direct-drive joints + 1 gear-driven
Repeatability of the finger tip
±2mm
Operating Voltage
12~58V
Communication Interface
USB 2.0
Haptic sensor
9 arrays (total of 33 pressure sensors)
Perception Range
10g-2500g
Maximum Acceptable Load (Without Damage)
20 kg
Grip load (5 cm hard object, palm down)
Max 500g
Maximum Power
400W@3s
Operating Temperature Range
-20℃ ~ 60℃
Features
Features
Force-Controlled Dextrous Hand: Manipulates Everything. Combining force-position hybrid control for sensitivity and reliability, it mimics the human hand to achieve precise object manipulation.
Capture data with sensitivity and precision: Provides open-source links to facilitate data collection and algorithm research.
Micro Brushless Force-Controlled Joint: 6 direct-drive force-controlled joints + 1 geared transmission, fingertip repeatability ±2mm
Tactile Sensing: 33 pressure sensors per hand, sensing range 10g–2500g, max load capacity 20kg (without damage).
High adaptability: Works seamlessly with G1 humanoid robots to execute complex actions.
Applications
Use Cases
Education & Research
Industrial Automation
Precision Assembly
Pharmaceutical sorting
Data Collection
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