Unitree R1 Dex3-1 Force-Controlled 3-Finger Dexterous Hand (with RGB Camera)
- 7-DOF Force-Controlled Dexterous Hand – Features 7 degrees of freedom per hand, delivering precise and natural finger movements for robotic manipulation and advanced grasping tasks.
- Integrated RGB Camera – Includes a wrist-mounted RGB camera with a 160° field of view, enabling enhanced visual perception for AI, robotics, and machine vision applications.
- Lightweight & Compact Design – Weighs only 650g with dimensions of 175 × 88 × 77 mm, making it ideal for the Unitree R1 humanoid robot.
- Ready for Development – Comes with a dedicated RGB camera mount, cables, and accessories for quick integration and robotics development.
- Expandable Camera Mount – Includes a complimentary D405 camera mount compatible with 3-finger hands. (Intel RealSense D405 depth camera is not included.)
- Single-Hand Package – This product includes one dexterous hand only. A complete Unitree R1 robot typically requires two hands, so select the correct left or right version when ordering.
- Trusted dealerDirect manufacturer partnership
- Pan-India deliveryInsured shipping, all states
- Post-sale supportTraining + service included
What makes it work
Unitree R1 Dex3-1 Dexterous Hand (with RGB Camera)
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 R1 humanoid robot.
Force-Position Hybrid Control
The Unitree R1 Dex3-1 (with RGB Camera) 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. This version includes a wrist-mounted RGB camera (FOV 160°) with its own dedicated mount, plus a complimentary D405 camera mount (compatible with 3-finger hands) — the D405 depth camera itself is not included, but customers can devise their own methods to secure other types of cameras to this mount. Combined with force-position hybrid control, it can simulate precise, human-like manipulation of objects when paired with the Unitree R1 humanoid robot.
Four Pillars of the R1 Dex3-1
R1 Dex3-1 — Available Variants
R1 Dex3-1 — 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 |
| Camera Configuration | |
| Wrist-Mounted RGB Camera | Included ×1, FOV 160° |
| RGB Camera Mount | Dedicated mount included |
| D405 Camera Mount | Complimentary, compatible with 3-finger hands (D405 depth camera not included) |
| 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 R1 |
| Order Type | Sold as a single hand — specify left or right when ordering |
Common Questions — R1 Dex3-1
Does this listing include both hands?
No. This is the price and information for one hand. One R1 is generally equipped with two dexterous hands, so please specify left or right when placing an order.
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. For tactile sensing, see the R1 Dex3-1 (Tactile Version) or the R1 Dex3-1 (Tactile Version, with RGB Camera).
What camera does this version include?
A wrist-mounted RGB camera with a 160° field of view, with its own dedicated mount. It also includes a complimentary D405 camera mount, though the D405 depth camera itself is not included.
What is the fingertip positioning accuracy?
The fingertip repeat positioning accuracy is ±2mm.
The full sheet
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