Unitree Dex3-1 Robotic Hand - 3 Fingers, 7 DOF, Tactile, for G1
Pay in 30 days
Pay in 30 days
Description
Unitree Dex3-1 Force Control Three Finger Agile Hand (Tactile Version)
The Dex3-1 Tactile is an advanced force-controlled three-finger robotic hand for humanoid manipulation tasks. Designed as an end effector for the Unitree G1, it combines precise force/position control with dense tactile sensing, enabling controlled, delicate grasping of even fragile or irregularly shaped objects.
Technical profile
Kinematics: 7 degrees of freedom (thumb 3 DOF, index and middle fingers 2 DOF each)
Control: Hybrid force and position control for stable contact and delicate manipulation
Tactile sensing: 33 pressure sensors per hand, distributed across the fingers and palm
Precision: Fingertip repeatability approx. ±2 mm
Payload (typical): up to ~500 g for precise manipulation tasks
Interfaces: USB-based communication, integrated drivers/controllers
Operating conditions: Wide temperature range (suitable for laboratory and field use)
Performance features
Contact-aware grasping: The tactile sensors provide high-resolution pressure distributions for safe grasp force control.
Agile grasp patterns: Pinch, tripod, and form-closure grasps enabled by 7-DOF kinematics.
Gentle object contact: Ideal for delicate components, laboratory samples, or everyday objects.
Research-oriented design: Designed for algorithm development (force control, manipulation planning, learning from contact).
Typical applications
Research and education: Robotic manipulation, haptic feedback, reinforcement learning with contact states
Industrial pre-development: Prototyping of gripping and assembly processes
Service and humanoid robotics: Everyday manipulation with increased safety and reliability
| Technical comparison | ||
| Feature | Dex3-1 Standard Version | Dex3-1 Tactile Version |
| Fingers / kinematics | 3 fingers, 7 DOF | 3 fingers, 7 DOF |
| Thumb | 3 DOF | 3 DOF |
| Index and middle fingers | 2 DOF each | 2 DOF each |
| Control | Position control, basic force limiting | Hybrid force and position control |
| Tactile sensing | not available | 33 tactile pressure sensors per hand |
| Contact feedback | Motor current only | Direct pressure and contact measurement |
| Grasping precision | High | Very high (contact-aware) |
| Delicate objects | Limited suitability | Very suitable |
| Repeatability | approx. ±2–3 mm | approx. ±2 mm |
| Typical payload | up to ~500 g | up to ~500 g (more controlled) |
| Interfaces | USB / proprietary protocol | USB / proprietary protocol |
| Software integration | Basic SDK | Extended SDK with tactile data |
| Cost / complexity | Lower | Higher (sensing + control) |
Integration
The Dex3-1 Tactile is mounted on the Unitree G1 arm as an end effector and is available as an upgrade to the standard Dex3-1. Its open control interface makes it easier to integrate with existing control and research frameworks.
Included in the scope of delivery:
- 1x Unitree G1 Dex3-1 Force Control Three Finger Agile Hand (Tactile Version)