Unitree G1 Dex3-1 Force-Controlled Three-Finger Dexterous Hand
- 7 Degrees of Freedom (7 DOF) – Includes 3 DOF in the thumb, 2 DOF in the index finger, and 2 DOF in the middle finger for precise manipulation.
- Force-Controlled Grasping – Delivers stable, accurate object handling without tactile sensing.
- Lightweight & Compact – Weighs just 650g with dimensions of 175 × 88 × 77 mm for seamless robot integration.
- Single-Hand Configuration – Each order includes one hand only; choose either the left-hand or right-hand version.
- 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 — without tactile sensors.
Force-Position Hybrid Control, Without Tactile Sensing
The Unitree Dex3-1 (without tactile version) is a three-finger force-controlled dexterous hand weighing 650g, 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. 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 (Without Tactile)
Dex3-1 (Without Tactile) — Available Variants
Dex3-1 (Without Tactile) — Complete Specification
| Specification | Details |
|---|---|
| Body Parameters | |
| Weight | 650g |
| 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 |
| 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, 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 (Without 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?
No, this is the version without tactile sensors. For tactile sensing, see the Dex3-1 with tactile version, which adds 33 pressure sensors and weighs slightly more (710g).
What is the fingertip positioning accuracy?
The fingertip repeat positioning accuracy is ±2mm.
The full sheet
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