Unitree Dex3-1

Power Control Dexterous Hand, Operate Everything

Combined with force and position hybrid control, sensitive and reliable, simulating precise object manipulation

Precision at Your Fingertips

The Dex3-1 delivers unmatched dexterity with force-controlled joints and high-density tactile sensing for real-world manipulation tasks.

DOF

Tactile Sensors

710g

Weight

1000Hz

Control Rate

Collect Data, Sensitive and Accurate

With 33 high-resolution tactile sensors distributed across palm and fingertips, the Dex3-1 captures rich contact data at every grasp. Combined with 1000Hz control rate and force-position hybrid feedback, it enables precise data collection for teleoperation, imitation learning, and sim-to-real transfer — making it the ideal platform for building robust manipulation datasets.

Dex3-1 three-finger dexterous hand, with 7 degrees of freedom: 6 micro brushless force control joint direct drive, 1 micro brushless force control joint gear drive. One hand with 33 tactile sensors. Compatible with G1 humanoid robot for complex actions.

Product Parameters

Body Parameters

Parameter	Value
Weight	710g
Size	175 x 88 x 77 mm
DOF	Thumb x3, Index x2, Middle x2
Transmission	6 direct drive + 1 gear
Repeat Accuracy	±2mm
Voltage	12–58V
Max Current	10A
Working Temp	-20 to 60°C
Max Load	500g

Joint Angles

Joint	Range
Thumb J0	-60° to 60°
Thumb J1	-35° to 60°
Thumb J2	0° to 100°
Index J0	0° to 90°
Index J1	0° to 100°
Middle J0	0° to 90°
Middle J1	0° to 100°

Sensing

Parameter	Value
Pressure Modules	9 modules (33 sensors)
Palm Array	2x2 x3
Finger Pad Array	2x2 x3
Fingertip Array	3x1 x3
Sensing Range	10g–2500g
Max Safe Load	20kg

Motor Specs (F-1515-108 / F-1515-214)

Parameter	Value
Weight	45g
Size	34.8 x 23.1 x 23.3 mm
Ratio	1:108 / 1:214
Max Torque	0.76 / 1.498 Nm
Max Speed	23 / 11 rad/s
Voltage	12–24V

Notes:
1. The above parameters may vary in different scenarios and configurations.
2. Maximum load varies under different grip postures and finger positions.
3. Tactile sensor readings may vary based on contact surface and material.
4. Product appearance is subject to change. Please refer to the final product.
5. For more information, please read the secondary development manual.

This product is a civilian robot component. We kindly request that all users refrain from making any dangerous modifications or using the product in a hazardous manner.