The Unitree Dex3-1 is a three-finger dexterous robotic hand featuring 7 degrees of freedom and advanced force-position hybrid control, enabling sensitive, reliable, and precise object manipulation. Designed to simulate the dexterity of a human hand, it can operate a wide variety of objects with accuracy and adaptability.

Equipped with 6 micro brushless force-control joints (direct drive) and 1 micro brushless force-control joint (gear drive), the Dex3-1 delivers exceptional motion fidelity. A total of 33 tactile sensors across the hand provide rich haptic feedback for data collection and intelligent grasping tasks.

The Dex3-1 is fully compatible with the Unitree G1 humanoid robot, making it an ideal end-effector for complex manipulation tasks in research, industrial, and service robotics applications. Open-source support is available for seamless integration and development.

With a compact form factor (175 × 88 × 77 mm, 710 g), wide operating voltage range (12–58 V), and a fingertip repeat positioning accuracy of ±2 mm, the Dex3-1 is built for both precision and durability across demanding real-world environments.

• Weight: 710 g
• Size: 175 mm × 88 mm × 77 mm
• Degrees of Freedom: 7 (Thumb ×3, Index Finger ×2, Middle Finger ×2)
• Transmission: 6 motors direct drive + 1 motor gear drive
• Tactile Sensors: 33 (one hand)
• Thumb Joint 0 range: -60° ~ 60°
• Thumb Joint 1 range: -35° ~ 60°
• Thumb Joint 2 range: 0° ~ 100°
• Index Finger Joint 0 range: 0° ~ 90°
• Index Finger Joint 1 range: 0° ~ 100°
• Middle Finger Joint 0 range: 0° ~ 90°
• Middle Finger Joint 1 range: 0° ~ 100°
• Fingertip Repeat Positioning Accuracy: ±2 mm
• Working Voltage: 12–58 V
• Static Current: 58 V @ 0.2 A
• Maximum Current: 10 A
• Communication Interface: USB 2.0
• Working Temperature Range: -20°C ~ 60°C
• Max Payload: 500 g (palm facing down, grasping a 5 cm round hard object at room temperature)