Unitree R1 Dex3-1 Force-Controlled Three-Finger Dexterous Hand (Tactile Version)
- Tactile Dexterous Hand – Designed specifically for the Unitree R1 humanoid robot for advanced robotic manipulation.
- 7 Degrees of Freedom – Human-like finger movement with 3 DOF on the thumb, 2 DOF on the index finger, and 2 DOF on the middle finger.
- 33 Integrated Tactile Sensors – Delivers precise touch sensing and force feedback for stable, adaptive, and intelligent grasping.
- Compact & Lightweight – Weighs only 650g with dimensions of 175 × 88 × 77 mm, ensuring balanced performance without adding excessive weight.
- Ideal for AI & Robotics Research – Designed for embodied AI, dexterous manipulation, machine learning, and advanced robotics development.
- Single-Hand Package – Includes one dexterous hand. A complete Unitree R1 robot typically requires two hands. Please specify Left Hand or Right Hand when placing your order.
- 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 (Tactile Version)
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 (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. This version is equipped with 33 tactile 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 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 |
| Sensing Parameters | |
| Number of Tactile Sensors | 33 |
| 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?
Yes. This version is equipped with 33 tactile sensors distributed across the palm, finger pads and fingertips.
Does this version include a camera?
No. For a version with a wrist-mounted RGB camera included, see the R1 Dex3-1 (with RGB Camera) variants.
What is the fingertip positioning accuracy?
The fingertip repeat positioning accuracy is ±2mm.
The full sheet
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