Unitree R1 Dex3-1 Force-Controlled Three-Finger Dexterous Hand
- Advanced Three-Finger Dexterous Hand – Designed for the Unitree R1 humanoid robot, enabling precise grasping, manipulation, and force-controlled interactions.
- 7 Degrees of Freedom – Features 3 DOF for the thumb, 2 DOF for the index finger, and 2 DOF for the middle finger, providing flexible and human-like motion.
- Force-Controlled Dexterity – Delivers accurate force feedback and stable object handling for research, AI, and industrial robotics applications.
- Compact & Lightweight Design – Weighs only 650g with dimensions of 175 × 88 × 77 mm, ensuring seamless integration with the R1 robot.
- Single-Hand Configuration – This package includes one dexterous hand. A complete Unitree R1 robot typically requires two hands. Please specify Left Hand or Right Hand 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 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 R1 humanoid robot.
Force-Position Hybrid Control
The Unitree R1 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 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 |
| 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, this is the version without tactile sensors. For tactile sensing, see the R1 Dex3-1 (tactile version), which adds 33 tactile sensors.
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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