Unitree G1 Dex3-1 Force-Controlled 3-Finger Tactile Dexterous Hand

A hand that can lift is easy to build; a hand that can feel what it lifts is the harder problem. The Unitree G1 Dex3-1 Force-Controlled 3-Finger Tactile Dexterous Hand goes after that second problem. It places 33 tactile sensors in each hand and pairs them with force and position hybrid control, so the fingers respond to contact instead of simply closing to a preset point.

The product is available through this page, by quotation.

Background

Unitree and the G1 platform

Unitree Robotics is known for legged and humanoid robots that research groups, universities and integrators can work with directly. The G1 humanoid is one of those platforms, and its usefulness depends a great deal on what it can do with its hands. Walking and balancing show that a humanoid can move; handling objects shows that it can work.

The Dex3-1 is the hand made for that job on the G1. It can be used with the G1 humanoid robot to perform various complex actions. It comes as left and right hands, and on the G1 EDU it is an optional configuration. In that configuration a single hand has 7 degrees of freedom, and the G1 EDU can also be specified with 2 additional wrist degrees of freedom as an option.

Key technology: force-controlled joints and tactile sensing

The Dex3-1 has 7 degrees of freedom: 3 in the thumb, 2 in the index finger and 2 in the middle finger. Six of the joints are driven directly by miniature brushless force control motors, and one is driven by a miniature brushless force control motor through gears. The joint motors are the F-1515-108 and F-1515-214 miniature brushless force control joints.

Direct drive matters for touch. With fewer transmission stages between the motor and the fingertip, the joint can be controlled by force as well as by position. Unitree combines the two in a hybrid control scheme that is sensitive and reliable.

The sensing is spread across each hand: 33 tactile sensors in total, including 9 pressure sensors. The range of perception is 10g-2500g, and the communication rate is 1000Hz, so the hand reports contact quickly enough to be used in a control loop.

Technical Specifications

Specifications as published by the manufacturer; confirmed against the datasheet at quotation.

The manufacturer has not published the box contents, the IP rating of the hand, any weight difference between the left and right hands, or the grip force; they are confirmed at quotation.

What makes the Dex3-1 different from a simple gripper?

A simple gripper opens and closes, and the controller usually has no idea what happened between the two states. The Dex3-1 gives the controller information. Each hand carries 33 tactile sensors and perceives loads in the range of 10g-2500g, so a program can tell a light touch from a firm hold and react to it.

Three fingers with 7 degrees of freedom also allow more than a pinch. The thumb has 3 degrees of freedom, while the index and middle fingers have 2 each, so the hand can approach an object from different angles instead of squeezing it along one axis. The fingertip repeat positioning accuracy of ±2mm helps when the same motion must be repeated again and again.

One load condition is worth knowing: with the palm facing down at room temperature, grasping a 5cm round hard object, the maximum weight is 500g and the maximum power is 400W@3s. Teams planning payload-dependent work should read that figure together with the maximum acceptance of 20kg (undamaged).

How does the Dex3-1 compare with other Unitree hands?

Unitree lists several hands, and they suit different projects. The Unitree G1 Dex3-1 Force Control Three Finger Dexterity Hand page covers the same family of hands. For work that needs many more joints, the Unitree Dex5-S Pro 22-DOF Tactile Dexterous Hand is named for its 22 degrees of freedom, while the Dex3-1 offers 7. The Unitree G1 Third-Party Dexterity (One-Handed) (G1-DEX-RH-LH) is a further option on the G1. Browse the full Hands category to compare them side by side.

The Dex3-1 is the more compact choice, at 710g and 175mm x 88mm x 77mm. For a team that wants tactile feedback on a G1 without moving to a far more complex hand, that is a sensible place to begin.

Who is the Dex3-1 for?

University and institute labs are the most natural buyers. Manipulation research needs a hand that reports contact, and the Dex3-1 delivers tactile data at 1000Hz over USB2.0, which fits ordinary lab setups. Groups working on teleoperation, imitation learning or force-aware grasping will find the hybrid control useful.

Integrators and developers who already own or plan to buy a G1 EDU are the second group. The hand is an optional configuration there, so it should be specified when the robot is ordered. Educators teaching robotics will value a hand whose sensing can be shown in a classroom. Buyers who need a far higher joint count should look at the Dex5-S Pro instead, and those who want accessories for a G1 can browse Humanoid Accessories.

What is the Dex3-1 used for?

1. Manipulation research: studying how a humanoid grasps, holds and releases objects with feedback from 33 tactile sensors.
2. Teleoperation: letting an operator guide the G1's hand while the touch data helps keep contact gentle.
3. Learning from demonstration: recording contact and position together so that grasping skills can be trained.
4. Teaching: showing students how force and position hybrid control differs from position control alone.
5. Object handling trials: testing everyday items of different weight and stiffness within the stated load condition.
6. Integration prototypes: building and evaluating humanoid applications that need a working hand on the G1.

Pricing and Availability

Pricing depends on the configuration, the number of hands and the robot they are paired with, so every order is handled by quotation. Delivery, customs and support are arranged together with the quotation. Send us your requirements, and the Dex3-1 is available on this page.

Frequently Asked Questions

How many degrees of freedom does the Dex3-1 have?

It has 7 degrees of freedom: the thumb has 3, and the index and middle fingers have 2 each. Six joints are driven directly and one through gears.

How many tactile sensors does it carry?

Each hand carries 33 tactile sensors, and the specification lists 9 pressure sensors. The range of perception is 10g-2500g.

What robot does it work with?

It is made for the G1 humanoid robot. On the G1 EDU it is an optional configuration, and 2 additional wrist degrees of freedom are also optional.

How does it connect and what power does it need?

It communicates over USB2.0 at 1000Hz. The working voltage is 12~58V and the maximum current is 10A.

What temperatures can it work in?

The working temperature range is -20℃ ~ 60℃.

How heavy is the hand and how large is it?

The weight is 710g and the size is 175mm x 88mm x 77mm.

Where can I buy the Dex3-1 and what does it cost?

You can buy it through this page by requesting a quotation. The cost depends on the configuration and quantity, and we give it in the quotation rather than listing a figure here.

Summary

The question at the start was whether a hand can feel what it holds. The Dex3-1 answers yes, with 33 tactile sensors per hand, direct-drive force control joints and hybrid force and position control, all in a 710g unit measuring 175mm x 88mm x 77mm. It will not suit every project, and buyers who need more joints can look at larger hands. For teams that want touch-aware manipulation on the G1, this page is the starting point.