Unitree Dex3-1 Gripper (compatible with all Unitree G1, R1 and H2)
Tactile Sensing:With Tactile Sensing
Dex3-1 Dexterous Hand Comparison
Choose between the standard version or the tactile sensing version for advanced robotic manipulation.
Without Tactile Sensing
Standard Version
A lightweight three-finger dexterous hand for gripping, motion control, and robot integration.
- 7 degrees of freedom
- Force-control joints
- Compact 3-finger design
With Tactile Sensing
Advanced Version
Adds tactile perception for more precise interaction, object handling, and manipulation research.
- 9 array sensors
- 33 pressure sensors
- Real-time tactile feedback
| Specification | Without Tactile Sensing | With Tactile Sensing |
|---|---|---|
| Structure | Three-finger dexterous hand | Three-finger dexterous hand |
| Degree of Freedom | 7 DOF | 7 DOF |
| Weight | 710 g | 710 g |
| Size | 175 × 88 × 77 mm | 175 × 88 × 77 mm |
| Driving Mechanism | 6 direct-drive motors + 1 geared motor | 6 direct-drive motors + 1 geared motor |
| Fingertip Repeat Positioning Accuracy | ±2 mm | ±2 mm |
| Tactile / Pressure Sensing | No | Yes |
| Array Sensors | — | 9 |
| Pressure Sensors | — | 33 |
| Range of Perception | — | 10 g – 2500 g |
| Max Horizontal Grab | 500 g | 500 g |
| Working Voltage | 12V–58V | 12V–58V |
| Communication Interface | USB 2.0 | USB 2.0 |
| Working Temperature | -20℃ to 60℃ | -20℃ to 60℃ |