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Unitree Dex3-1 Power Control Dexterous Hand
Unitree Dex3-1 Power Control Dexterous Hand
Unitree Dex3-1 Power Control Dexterous Hand
Unitree Dex3-1 Power Control Dexterous Hand

Unitree Dex3-1 Power Control Dexterous Hand

  • 7 degrees of freedom — Thumb ×3, Index Finger ×2, Middle Finger ×2
  • 6 micro brushless force-control joints in direct drive + 1 micro brushless force-control joint in gear drive
  • Force-position hybrid control for sensitive, reliable, and precise object manipulation
  • 33 tactile pressure sensors across 9 modules — palm (3 modules), finger pads (3), fingertips (3)
  • Tactile perception range: 10 g to 2500 g · Maximum safe load: 20 kg
  • Two F-1515 joint variants — F-1515-108 (1:108 ratio) and F-1515-214 (1:214 ratio, up to 3.1 Nm opposing torque)
  • ±2 mm fingertip repeat positioning accuracy
  • 1000 Hz communication over USB 2.0 — full joint telemetry, sensor pressure, and temperature every cycle
  • Perceptual feedback: joint mode, position, velocity, torque, temperature, voltage/current, IMU, sensor pressure and temperature
  • Designed for Unitree G1 humanoid robot · Full open-source protocol and user manual available
  • Working voltage: 12 – 58 V · Operating range: −20°C to 60°C
  • Weight: 710 g · Dimensions: 175 mm × 88 mm × 77 mm (flat state)
Price on request
  • Trusted dealerDirect manufacturer partnership
  • Pan-India deliveryInsured shipping, all states
  • Post-sale supportTraining + service included
Overview

What makes it work

Unitree Dex3-1 Force-Controlled 3-Finger Dexterous Hand – 7 DOF, 33 Tactile Sensors | xBoom.in
Unitree Robotics · Dexterous Hand Series

Unitree Dex3-1

Force-position hybrid control, 7 degrees of freedom, and 33 tactile sensors — the three-finger dexterous hand engineered to operate everything with sensitive, precise, and reliable power control for humanoid robot applications.

7
Degrees of Freedom
33
Tactile Sensors
±2mm
Fingertip Accuracy
710g
Weight
1000Hz
Comm. Rate
Overview

Power Control Dexterous Hand — Operate Everything

The Unitree Dex3-1 is a three-finger dexterous robot hand combining force and position hybrid control for sensitive, reliable, and precise object manipulation. With 7 degrees of freedom — 6 micro brushless force-control joints in direct drive and 1 micro brushless force-control joint in gear drive — and 33 tactile sensors distributed across the palm and all three fingers, the Dex3-1 can simulate accurate human-like object operations. Weighing just 710 g and measuring 175 × 88 × 77 mm, it is purpose-built for integration with the Unitree G1 humanoid robot to perform complex real-world tasks. Communication runs at 1000 Hz over USB 2.0, delivering full joint and sensor telemetry every cycle — including pressure values and temperature. With a tactile perception range of 10 g to 2500 g and full open-source support, the Dex3-1 is the go-to choice for researchers and developers building on the Unitree humanoid platform.

Core Strengths

Four Principles Behind the Dex3-1

⚡
Force-Position Hybrid Control
Combines force and position control in a single unified framework — sensitive enough for delicate operations, reliable enough for repeated high-load grasping cycles without crushing fragile objects.
🖐
33 Tactile Sensors
9 pressure sensor modules covering 33 sensing points across the palm and all three fingers — 10 g to 2500 g perception range with pressure and temperature feedback at 1000 Hz.
⚙️
6+1 Direct Drive Joints
Six micro brushless force-control joints run in direct drive for maximum responsiveness; one gear-drive joint delivers amplified torque — up to 3.1 Nm in the opposing direction.
🔓
Open Source + G1 Ready
Full open-source resources and user manual from Unitree — enabling developers and researchers to build, extend, and customise control stacks directly on the G1 humanoid platform.
Product Detail

Sensitive, Accurate, Reliable

Force-Position Control

Hybrid Control Architecture — Precise Object Operation

The Dex3-1 operates on a force-position hybrid control architecture — simultaneously tracking positional targets while maintaining configurable force limits at each joint. This dual-mode control allows the hand to transition seamlessly between position-driven motions such as precise placement and pre-shaping, and force-regulated contact such as compliant grasping, surface following, and object manipulation under load. For humanoid robot tasks that require both accurate reach-and-place and robust adaptive grip — picking up fragile items, handing objects to humans, or operating tools — the Dex3-1's hybrid approach eliminates the compromise between stiffness and compliance that single-mode hands impose.

Force + Position Hybrid Compliant Grasping 7 DOF Thumb + 2 Fingers
Unitree Dex3-1 — open-palm side view showing full three-finger extension and thumb articulation range
Tactile Sensing

33 Tactile Sensors — Collect Data, Sensitive and Accurate

The Dex3-1 integrates 9 pressure sensor modules totalling 33 individual sensing points — distributed across the palm and all three fingers. Each fingertip carries a 3×1 sensor array; each finger pad carries a 2×2 array; and the palm carries three 2×2 sensor modules. The full array delivers a perception range from 10 g to 2500 g, with a maximum safe acceptance load of 20 kg before damage. Sensor pressure values and temperature values are transmitted in every 1000 Hz receiver packet — providing the high-frequency tactile data stream required for reactive grip control, slip detection, and tactile algorithm development. Sensitive enough to detect surface contact onset and accurate enough to support reinforcement learning policy training.

33 Pressure Sensors 9 Sensor Modules 10 g – 2500 g Range Slip Detection Ready
Unitree Dex3-1 — 33 tactile sensor array, blue sensor dots illuminated across palm and all finger pads
Joint Technology

Miniature Brushless Force-Control Joints — F-1515 Series

The Dex3-1 uses two variants of the F-1515 miniature brushless force-control joint — both weighing just 45 g and measuring 34.8 × 23.1 × 23.3 mm. The F-1515-108 operates at a 1:108 reduction ratio with a maximum rotational speed of 23 rad/s and an ideal maximum torque of 0.76 Nm. The F-1515-214 runs at 1:214 reduction with an ideal maximum torque of 1.498 Nm and a maximum speed of 11 rad/s — delivering up to 3.1 Nm in the opposing direction. Both variants use a rotor absolute value encoder and communicate at 1000 Hz via high-speed unibus — feeding back torque, angle, angular velocity, and temperature per joint. These joints accept torque, angle, angular velocity, stiffness, and damping as control instructions, enabling fine-grained impedance control across all seven degrees of freedom.

F-1515-108 Joint F-1515-214 Joint Absolute Encoder Impedance Control
Unitree Dex3-1 — front structural view showing finger joints and grip pad mechanism
Platform Integration

G1 Humanoid Integration & Open Source Developer Support

The Dex3-1 is designed to pair directly with the Unitree G1 humanoid robot, enabling the G1 to perform a broad range of complex manipulation tasks that require tactile feedback and force-aware grasping. The USB 2.0 interface at 1000 Hz provides real-time bidirectional communication with the host system — sender packets at 1234 bytes, receiver packets at 1270 bytes — covering full joint mode, position, velocity, torque, stiffness and damping data. The complete communication protocol, joint control API, and user manual are publicly available through Unitree's open-source resources, allowing developers to build custom control stacks, integrate the Dex3-1 into ROS-based pipelines, and conduct reinforcement learning experiments directly on the physical hardware without proprietary constraints.

G1 Compatible Open Source USB 2.0 Interface ROS Integration
Unitree Dex3-1 tactile version — 33-point sensor array across fingers and palm for G1 humanoid integration
Tactile Sensing Layout

33 Sensors Across Palm & Three Fingers

Nine pressure sensor modules are distributed across the palm and every finger — providing comprehensive contact coverage for slip detection, grip force monitoring, and tactile data collection at 10 g to 2500 g sensitivity.

🤚
Palm — 3 Modules
Array: 2 × 2 per module × 3 modules
Total: 12 sensing points
☝️
Finger Pads — 3 Modules
Array: 2 × 2 per finger pad × 3 fingers
Total: 12 sensing points
💡
Fingertips — 3 Modules
Array: 3 × 1 per fingertip × 3 fingers
Total: 9 sensing points
📊
Perception Range
10 g minimum — 2500 g maximum
Max undamaged load: 20 kg
📡
Feedback Rate
1000 Hz — pressure value & sensor
temperature in every packet
🧮
Total Sensor Count
9 modules · 33 individual
pressure sensing points
Key Capabilities

Six Features That Define the Dex3-1

01
Force-Position Hybrid Control
Simultaneous force and position control at every joint — sensitive adaptive grasping combined with precise positional tracking. Configurable stiffness and damping per joint via control instructions for advanced impedance control.
02
33 Tactile Pressure Sensors
9 modules across palm, finger pads, and fingertips — 33 individual sensing points with 10 g–2500 g perception range. Pressure and temperature values streamed at 1000 Hz in every receiver packet for real-time contact feedback.
03
7 DOF — 3 Finger Architecture
Thumb: 3 active joints (-60°–60°, -35°–60°, 0°–100°). Index and Middle: 2 active joints each (0°–90°, 0°–100°). Six direct-drive joints plus one gear-drive joint for amplified torque where needed.
04
F-1515 Miniature Joint Modules
Two joint variants: F-1515-108 (1:108 ratio, 23 rad/s max) and F-1515-214 (1:214 ratio, up to 3.1 Nm opposing torque). Absolute encoders, 1000 Hz unibus communication, 45 g per module.
05
1000 Hz Full-State Telemetry
USB 2.0 at 1000 Hz — 1234-byte sender, 1270-byte receiver packets. Full joint mode, position, velocity, torque, temperature, voltage/current, IMU, and all sensor pressure data every cycle.
06
Open Source + G1 Compatible
Full open-source protocol and user manual from Unitree. Purpose-built for the G1 humanoid robot. Working temperature -20°C to 60°C. Voltage: 12–58 V. Fingertip repeat positioning accuracy: ±2 mm.
Technical Specifications

Unitree Dex3-1 — Complete Specification

SpecificationDetails
Body Parameters
Weight710 g
Dimensions (flat state)175 mm × 88 mm × 77 mm
Degrees of Freedom7 — Thumb ×3, Index Finger ×2, Middle Finger ×2
Transmission Mechanism6 Micro Brushless Force-Control Joints (Direct Drive) + 1 Micro Brushless Force-Control Joint (Gear Drive)
Fingertip Repeat Positioning Accuracy±2 mm
Working Voltage12 V ~ 58 V
Static Current58 V @ 0.2 A
Maximum Current10 A
Communication InterfaceUSB 2.0
Working Temperature Range-20°C ~ 60°C
Joint Angle Range
Thumb Joint 0-60° ~ 60°
Thumb Joint 1-35° ~ 60°
Thumb Joint 20° ~ 100°
Index Finger Joint 00° ~ 90°
Index Finger Joint 10° ~ 100°
Middle Finger Joint 00° ~ 90°
Middle Finger Joint 10° ~ 100°
Load Conditions
Load — Palm Facing Down (5 cm round hard object, room temp)Max 500 g · Max Power 400 W @ 3 s
Load — Palm Facing Left (5 cm round hard object, room temp)Max 500 g · Max Power 400 W @ 3 s
Tactile Sensing Parameters
Number of Pressure Sensor Modules9
Total Pressure Sensors33
Array Resolution — Palm2 × 2 per module × 3 modules
Array Resolution — Single Finger Pad (×3)2 × 2
Array Resolution — Single Fingertip (×3)3 × 1
Perception Range10 g – 2500 g
Maximum Safe Load (Undamaged)20 kg
Software / Communication
Communication Rate1000 Hz
Full Packet — Sender1234 bytes
Full Packet — Receiver1270 bytes
Perceptual FeedbackJoint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage & Current, Sensor Pressure Value, Sensor Temperature Value, IMU Data
Control FeedbackJoint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient
F-1515 Miniature Brushless Force-Control Joint
ModelsF-1515-108 & F-1515-214
Weight (per joint)45 g
Dimensions (per joint)34.8 mm × 23.1 mm × 23.3 mm
Reduction Ratio1:108 (F-1515-108) · 1:214 (F-1515-214)
Max Torque — Ideal (F-1515-108)0.76 Nm
Max Torque — Ideal (F-1515-214)1.498 Nm
Max Torque Actual — Same direction as speed (108 / 214)0.49 Nm / 0.86 Nm
Max Torque Actual — Opposing direction (108 / 214)1.37 Nm / 3.1 Nm
Maximum Rotational Speed (108 / 214)23 rad/s / 11 rad/s
Maximum Line Current4.76 A
Communication Control Frequency1000 Hz
Method of CommunicationHigh-Speed Unibus
EncoderRotor Absolute Value Encoder
Joint Working Temperature-20°C ~ 60°C
Joint Working Voltage12 V – 24 V
Motor Perceived FeedbackTorque, Angle, Angular Velocity, Temperature
Motor Control InstructionsTorque, Angle, Angular Velocity, Stiffness, Damping
Video Demos

See the Dex3-1 in Action

Unitree G1 — Force Control & Dexterous Hand Tasks
Frequently Asked Questions

Common Questions About the Dex3-1

How many tactile sensors does the Unitree Dex3-1 have and where are they located?

The Dex3-1 has 33 pressure sensors across 9 sensor modules. Their placement is: three 2×2 array modules on the palm (12 sensing points total); one 2×2 array on each of the three finger pads (12 sensing points total); and one 3×1 array at each of the three fingertips (9 sensing points total). The full array perceives contact forces from 10 g to 2500 g, and the maximum safe acceptance load before damage is 20 kg. Sensor pressure values and sensor temperature values are included in every 1000 Hz receiver packet.

What is force-position hybrid control and why does the Dex3-1 use it?

Force-position hybrid control means the hand simultaneously tracks a desired joint position while enforcing a force limit — rather than choosing one or the other. In pure position control, the hand would push with unlimited force until it reaches a target angle, potentially crushing fragile objects. In pure force control, it applies a set force but may not reach a precise location. The hybrid approach allows the Dex3-1 to grasp objects of varying stiffness with the correct grip force while still moving to accurate positions — making it both sensitive for delicate manipulation and reliable for repeated load-bearing tasks.

Which robots is the Unitree Dex3-1 compatible with?

The Dex3-1 is primarily designed for integration with the Unitree G1 humanoid robot, enabling it to perform a wide range of complex manipulation tasks. The USB 2.0 interface at 1000 Hz and the open-source communication protocol mean the hand can also be connected to other host systems — robotic arms, custom platforms, or research setups — provided the host can interface via USB and implement the published protocol. Full documentation and open-source resources are available from Unitree Robotics.

What are the F-1515-108 and F-1515-214 joint variants and when is each used?

Both are Unitree's F-1515 miniature brushless force-control joint modules, differing in gear reduction ratio. The F-1515-108 (1:108 ratio) offers higher speed — up to 23 rad/s — with a lower ideal maximum torque of 0.76 Nm. It is suited to joints requiring fast motion and moderate force. The F-1515-214 (1:214 ratio) provides more torque — 1.498 Nm ideal, up to 3.1 Nm opposing-direction actual — at a lower maximum speed of 11 rad/s. It is suited to joints demanding higher grip force or load resistance. The Dex3-1 uses both variants across its 7 joints to balance speed and torque per degree of freedom.

Is the Unitree Dex3-1 open source and what documentation is available?

Yes — Unitree provides open-source resources for the Dex3-1 via their official open-source platform, and a full user manual is publicly available. The open-source package covers the communication protocol (USB 2.0, 1000 Hz), packet structure (1234-byte sender / 1270-byte receiver), joint control API including torque, angle, angular velocity, stiffness, and damping instructions, and perceptual feedback data structure including all tactile sensor fields. This allows developers to integrate the Dex3-1 into ROS pipelines, custom control systems, and reinforcement learning training environments without proprietary constraints.

Specifications

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