Unitree G1 Dex3-1 Force-Controlled Three-Finger Dexterous Hand (With Tactile Version)
- Integrated Tactile Sensing – Equipped with 33 tactile sensors to provide enhanced touch feedback for precise object detection and manipulation.
- 7 Degrees of Freedom (7 DOF) – Features 3 DOF in the thumb, 2 DOF in the index finger, and 2 DOF in the middle finger for flexible and natural robotic hand movements.
- Force-Controlled Precision – Combines force control with tactile feedback to deliver stable, accurate, and adaptive grasping performance.
- Lightweight & Compact Design – Weighs only 650g with dimensions of 175 × 88 × 77 mm, making it ideal for seamless integration with the Unitree G1 humanoid robot.
- Trusted dealerDirect manufacturer partnership
- Pan-India deliveryInsured shipping, all states
- Post-sale supportTraining + service included
What makes it work
Unitree Dex3-1 Force-Controlled Three-Finger Dexterous Hand
Power Control Dexterous Hand, Operate Everything. Combined with force and position hybrid control, the Dex3-1 is sensitive and reliable, simulating precise object manipulation for the Unitree G1 humanoid robot — with 33 tactile sensors.
Force-Position Hybrid Control, Without Tactile Sensing
The Unitree Dex3-1 (with tactile version) is a three-finger force-controlled dexterous hand weighing 710g, with dimensions of 175mm × 88mm × 77mm in its flat state. It provides 7 degrees of freedom per hand — 3 in the thumb, 2 in the index finger, and 2 in the middle finger — driven by 6 micro brushless force-control joints with direct drive and 1 with gear drive. This version adds a full tactile sensing array of 33 pressure sensors across the palm, finger pads and fingertips. Combined with force-position hybrid control, it can simulate precise, human-like manipulation of objects when paired with the Unitree G1 humanoid robot.
Four Pillars of the Dex3-1 (With Tactile)
Dex3-1 (With Tactile) — Available Variants
Dex3-1 (With Tactile) — Complete Specification
| Specification | Details |
|---|---|
| Body Parameters | |
| Weight | 710g |
| Size (Flat State) | 175mm × 88mm × 77mm |
| Degrees of Freedom | Thumb ×3 · Index Finger ×2 · Middle Finger ×2 |
| Transmission Mechanism | 6 motors drive directly, 1 motor drives with gears |
| Angle of Joint — Thumb Joint 0 | -60° ~ 60° |
| Angle of Joint — Thumb Joint 1 | -35° ~ 60° |
| Angle of Joint — Thumb Joint 2 | 0° ~ 100° |
| Angle of Joint — Index Finger Joint 0 | 0° ~ 90° |
| Angle of Joint — Index Finger Joint 1 | 0° ~ 100° |
| Angle of Joint — Middle Finger Joint 0 | 0° ~ 90° |
| Angle of Joint — Middle Finger Joint 1 | 0° ~ 100° |
| Fingertip Repeat Positioning Accuracy | ±2mm |
| Sensing Parameters | |
| Number of Pressure Sensors | 9 sensor arrays (33 total pressure sensors) |
| Array Resolution | 2×2 (palm) ×3 · 2×2 (single finger pad) ×3 · 3×1 (single fingertip) ×3 |
| Range of Perception | 10g – 2500g |
| Maximum Acceptance (Undamaged) | 20kg |
| Electrical Characteristics | |
| Working Voltage | 12 ~ 58V |
| Static Current | 58V @ 0.2A |
| Maximum Current | 10A |
| Communication Interface | USB2.0 |
| Working Temperature Range | -20°C ~ 60°C |
| Load Conditions (5cm Round Hard Object) | |
| Palm Facing Down — Max Weight | 500g |
| Palm Facing Down — Max Power | 400W @ 3s |
| Palm Facing Left — Max Weight | 500g |
| Palm Facing Left — Max Power | 400W @ 3s |
| Software Functions | |
| Communication Rate | 1000Hz |
| Full Packet Size | Sender: 1234 bytes · Receiver: 1270 bytes |
| Perceptual Feedback | Joint mode, position, velocity, torque, temperature, voltage/current, sensor pressure value, sensor temperature value, IMU data |
| Control Feedback | Joint mode, position, velocity, torque, stiffness coefficient, damping coefficient |
| Miniature Brushless Force Control Joint | |
| Model | F-1515-108 · F-1515-214 |
| Weight | 45g |
| Size | 34.8mm × 23.1mm × 23.3mm |
| Reduction Ratio | 1:108 · 1:214 |
| Maximum Torque (Ideal) | 0.76N·m · 1.498N·m |
| Maximum Rotational Speed | 23rad/s · 11rad/s |
| Communication Control Frequency | 1000Hz |
| Encoder | Rotor absolute value encoder |
| Compatibility & Ordering | |
| Compatible Platform | Unitree G1 (used with G1 Edu) |
| Order Type | Must be ordered with G1 Edu, or as a repair part — cannot be purchased separately |
Common Questions — Dex3-1 (With Tactile)
Does this listing include both hands?
No. This is the price and listing for one hand. A G1 is generally equipped with two dexterous hands, so you'll need to specify and typically order both the left and right hand.
Can I order this as a standalone accessory?
No. The Dex3-1 must be ordered together with a G1 Edu unit, or purchased as a repair part. It cannot be purchased separately.
How many degrees of freedom does it have?
Each hand has 7 degrees of freedom: 3 in the thumb, 2 in the index finger, and 2 in the middle finger.
Does this version include tactile sensors?
Yes. This version includes a full tactile sensing array of 33 pressure sensors across the palm, finger pads and fingertips. For a lighter option without tactile sensing, see the Dex3-1 without tactile version, which weighs 650g.
What is the tactile sensor array like?
The tactile sensing system uses 9 sensor arrays for a total of 33 pressure sensors, distributed across the palm, finger pads and fingertips, with a perception range of 10g to 2500g and a maximum acceptance of 20kg without damage.
What is the fingertip positioning accuracy?
The fingertip repeat positioning accuracy is ±2mm.
The full sheet
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