Dex3-1 for Unitree

Three-finger dexterous hand engineered for Unitree G1 humanoid robots.
7-DOF layout (thumb 3, index 2, middle 2) with hybrid force/position control for precise manipulation.
Integrated tactile sensing (arrayed sensors) for stable, adaptive grasps; ±2 mm fingertip repeatability.
Industrial-grade build; left or right hand versions available.

Overview

What makes it work

Category	Spec
Model	Dex3-1 three-finger dexterous hand
Compatibility	Unitree G1 humanoid robot; left/right versions available
Degrees of freedom	7 total — Thumb ×3, Index ×2, Middle ×2
Actuation	6 micro brushless force-control joints (direct drive) + 1 micro brushless force-control joint (geared)
Tactile sensing	33 tactile sensors (arrayed across palm, finger pads, and fingertips); optional tactile array installation on G1 pages
Fingertip repeatability	±2 mm
Size (L×W×H)	175 × 88 × 77 mm
Weight	710 g
Operating voltage	12–58 V
Static current	0.2 A @ 58 V
Max current	10 A
Interface	USB 2.0
Operating temperature	−20 °C to 60 °C
Example load cases	Grasping a 5 cm rigid round object: max weight 500 g; max power 400 W @ 3 s (specified for two orientations)
Communications	Control/feedback loop up to 1000 Hz; packet size ref. provided in official docs
Control	Hybrid force + position control for precise manipulation