Unitree Dex1-1 Gripper Standard
• 90mm extra-large stroke handles a wide range of object sizes without hardware reconfiguration
• Adjustable gripping force from 5N to 120N — set via software for fragile items or firm industrial grasps
• 0.1mm fingertip position resolution powered by a 15-bit absolute encoder on the M4010 motor
• 1000Hz high-speed 485 control at 6Mbps with full motor state feedback: angle, velocity, torque, temperature
• 20kg form-fitting grasp load and 5kg friction grasp load for reliable load-bearing manipulation
• Compatible with Unitree G1, H2, and R1 humanoid robots and standalone end-effector use
- Trusted dealerDirect manufacturer partnership
- Pan-India deliveryInsured shipping, all states
- Post-sale supportTraining + service included
What makes it work
Standard Version — V1
Unitree Dex1-1 Gripper
Professional and refined — designed for embodied AI applications. Extra-large 90mm stroke, powerful adjustable gripping force up to 120N, and 0.1mm fingertip resolution for precise, repeatable manipulation on G1, H2, and R1 humanoid platforms.
Professional & Refined — The Core Dex1-1 Gripper
The Unitree Dex1-1 Standard Version is a precision-engineered parallel two-finger electric gripper built for embodied AI and humanoid robotics applications. With a 90mm stroke, adjustable gripping force from 5N to 120N, and fingertip position resolution of 0.1mm, it delivers mechanical precision for real-world manipulation tasks. Communicating at 1000Hz over high-speed 485 at 6Mbps, the Dex1-1 provides full motor state feedback every cycle. The Standard package includes the gripper, D405 depth camera mounting bracket, 485-to-USB conversion board, and all necessary cables for immediate integration.
Four Pillars of the Dex1-1
Precise, Powerful, Professional
90mm Stroke with 5–120N Adjustable Gripping Force
The Dex1-1 features an extra-large 90mm stroke, allowing it to handle a wide range of object dimensions. Gripping force is software-adjustable from 5N for delicate handling up to 120N for firm grasps. The body measures 143 × 78 × 67mm and weighs 550g. Jaw length is 80mm. The full-stroke shortest closing time of 0.24s enables high-speed pick-and-place cycles. In form-fitting grasp mode the gripper holds up to 20kg horizontally; friction mode delivers 5kg vertically on flat surfaces.
1000Hz High-Speed 485 — Full Motor State Feedback
Built on Unitree's M4010 motor with a 1:25 reduction ratio and 15-bit absolute encoder, the Dex1-1 delivers 0.1mm fingertip position resolution. Communication runs at 6Mbps over high-speed 485 with 1000Hz control frequency. Motor state feedback streams angle, angular velocity, torque, and temperature continuously. Control instructions accept angle, angular velocity, torque, stiffness, and damping — enabling force-position hybrid control for compliant grasping. Peak motor torque is 5N.m; maximum speed reaches 27rad/s at 64V.
Built for Real-World Embodied AI Use Cases
The Dex1-1 is deployed across scientific research and education, industrial automation, courier sorting, consumer electronics manufacturing, new retail, and medicine. Operating voltage ranges from 24V to 64V (24/48VDC recommended), static current is 0.03A, and the working range spans -20°C to 60°C. The included 485-to-USB board enables direct PC connection for development. Compatible with Unitree G1, H2, and R1 humanoid robots and standalone use — with full secondary development support through Unitree's robotics interfaces.
Dex1-1 Gripper — Up Close
Standard Version — What's in the Box
Single-hand price. Typically two grippers are used per humanoid robot for bimanual operation.
Six Features That Define the Dex1-1
Dex1-1 Standard — Complete Specification
| Specification | Details |
|---|---|
| Gripper Parameters | |
| Model | Dex1-1 |
| Dimensions | 143mm × 78mm × 67mm |
| Weight | 550g |
| Stroke | 90mm |
| Gripping Force (Adjustable) | 5 ~ 120N |
| Speed (Adjustable) | 50 ~ 375mm/s |
| Position Resolution (Fingertip) | 0.1mm |
| Grasp Load (Form-fitting) | 20kg |
| Grasp Load (Friction) | 5kg |
| Full-stroke Shortest Closing Time | 0.24s |
| Jaw Length | 80mm |
| Motor Parameters | |
| Communication Protocol | High-speed 485 |
| Communication Baud Rate | 6Mbps |
| Communication Control Frequency | 1000Hz |
| Operating Voltage | 24V ~ 64V (24/48VDC recommended) |
| Static Current | 0.03A |
| Peak Line Current | 3.5A |
| Motor Peak Torque | 5N.m |
| Motor Maximum Speed | 27 rad/s (64V supply) |
| Operating Environment | -20°C ~ 60°C |
| Motor Reduction Ratio | 1:25 |
| Encoder Resolution | 15-bit |
| Encoder Type | Absolute Encoder |
| Motor Status Feedback | Angle, Angular Velocity, Torque, Temperature |
| Motor Control Instruction | Angle, Angular Velocity, Torque, Stiffness, Damping |
| Package Contents | |
| Included | Dex1-1 Gripper ×1 · D405 Camera Bracket ×1 · 485-to-USB Board ×1 · Cables & Accessories |
| Camera | Not included |
| Compatibility | |
| Compatible Platforms | Standalone · Unitree G1 · Unitree H2 · Unitree R1 |
Common Questions — Dex1-1 Standard
What is included in the Standard Version?
The Standard Version includes the Dex1-1 gripper (×1), a D405 depth camera mounting bracket (×1, camera not included), a 485-to-USB conversion board (×1), and all necessary cables and accessories. Single-hand pricing — two grippers are typically used per humanoid robot for bimanual operation.
How is the gripping force adjusted?
Gripping force is adjusted via software by modifying the motor's stiffness, damping, and torque instruction parameters sent over the 485 interface at 1000Hz. This allows the force to be set anywhere from 5N to 120N in real time without any mechanical adjustment.
Which humanoid robots is the Dex1-1 compatible with?
The Dex1-1 is compatible with Unitree G1, H2, and R1 humanoid robots, and supports standalone use as an independent end-effector connected to any host system via the included 485-to-USB conversion board.
What is the difference between form-fitting and friction grasp load?
Form-fitting grasp load (20kg) is the maximum horizontal load when the object's shape aids retention. Friction grasp load (5kg) is the maximum vertical load on a flat steel block where grip is maintained purely by friction between the jaw surfaces and the object.
Can the Standard be upgraded to Pro or Ultimate later?
The D405 camera mounting bracket is included in the Standard Version, meaning the physical mount is already ready. Upgrading to Pro adds an RGB camera; Ultimate adds both RGB and D405 depth cameras with all mounts included.
The full sheet
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