Unitree R1 Dex3-1 Tactile 3-Finger Dexterous Hand with RGB Camera
- Advanced 3-Finger Dexterous Design – Features 7 degrees of freedom with a 3-DOF thumb, 2-DOF index finger, and 2-DOF middle finger for precise and natural object manipulation.
- Integrated Force & Tactile Sensing – Equipped with 33 tactile sensors to provide accurate touch feedback, enabling delicate grasping and improved interaction with objects.
- Built-in Wrist RGB Camera – Includes a 160° FOV wrist-mounted RGB camera with a dedicated mounting bracket for enhanced robotic vision and perception.
- Developer-Friendly Package – Comes with essential cables, accessories, and a complimentary D405 camera mount (D405 depth camera not included) for custom camera integration.
- Lightweight & Compact – Weighing just 650g with dimensions of 175 × 88 × 77 mm, making it ideal for the Unitree R1 humanoid robot.
- Single-Hand Configuration – This package includes one dexterous hand only. Unitree R1 typically requires two hands, so ensure you select the correct left or right-hand 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 (Tactile + 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 (Tactile Version, 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. It is equipped with 33 tactile sensors across the palm, finger pads and fingertips, and 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 |
| Sensing Parameters | |
| Number of Tactile Sensors | 33 |
| 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?
Yes. This version is equipped with 33 tactile sensors distributed across the palm, finger pads and fingertips.
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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