Unitree Dex3-1 Review: Specs and Uses of the Three-Finger Dexterous Hand for the G1
Updated: 7 days ago
The Unitree Dex3-1 is a three-finger dexterous hand with 7 degrees of freedom, made for the Unitree G1 humanoid. Unitree does not list a price on the product page. This review covers its specifications, design and uses.
Quick Verdict
The Dex3-1 is the simple hand in Unitree's range. A thumb with three joints and two fingers with two joints each are enough to pinch, wrap and hold most objects, with seven motors instead of the sixteen of a five-finger hand. Every joint is force-controlled, and 33 tactile sensors cover the palm, pads and tips. It weighs 710 g. The limit is load: 500 g. This is a hand for learning manipulation, not for lifting.
Unitree Dex3-1 at a Glance
Degrees of freedom: 7
Fingers: three
Weight: 710 g
Max payload: 500 g
Tactile sensors: 33
Price: not listed on the product page
Unitree Dex3-1 Technical Specifications
The table below lists the manufacturer's specifications.
Specification | Unitree Dex3-1 |
Manufacturer | Unitree Robotics |
Degrees of freedom | 7: thumb 3, index 2, middle 2 |
Transmission | 6 direct-drive motors and 1 geared |
Weight | 710 g |
Size, flat | 175 x 88 x 77 mm |
Fingertip repeatability | ±2 mm |
Max payload | 500 g |
Working voltage | 12 to 58 V |
Maximum current | 10 A |
Communication | USB 2.0, 1000 Hz |
Working temperature | -20 to 60 °C |
Tactile sensors | 33; range 10 g to 2500 g |
Compatibility | Unitree G1 humanoid |
Payload is measured grasping a 5 cm round hard object.
Design and Build Quality
Six joints are driven directly and one through gears, using Unitree's miniature brushless force-control joints of 45 g each. Two joint types are used, with reduction ratios of 1:108 and 1:214 and ideal peak torques of 0.76 and 1.498 N·m.
Programming and Software
Feedback
Joints report mode, position, velocity, torque and temperature, with sensor pressure and IMU data.
Control
Position, velocity, torque, stiffness and damping are commanded per joint at 1000 Hz.
Unitree Dex3-1 Applications and Use Cases
G1 Humanoid
The hand is the dexterous option for the G1.
Learning of Grasping
Force control and tactile data support imitation and reinforcement learning.
Teleoperation
Three-finger grasps are simple to map from an operator.
Unitree Dex3-1 Price and Value
Unitree does not list a price for the Dex3-1 on the product page.
For the company behind the product, read the Unitree Robotics Company Profile: History, Products, Stock Listing and Controversies.
Pros and Cons
Pros
Force control on all joints
33 tactile sensors
Light at 710 g
Wide supply voltage
Made to fit the G1
Cons
500 g payload
±2 mm fingertip repeatability
Three fingers limit grasp types
No price on the product page
Who Should Buy the Unitree Dex3-1?
It fits G1 owners and research groups that need a tactile, force-controlled hand for light objects.
Unitree Dex3-1 FAQ
How much does the Unitree Dex3-1 cost?
Unitree does not list a price on the product page.
How many fingers does the Unitree Dex3-1 have?
Three: thumb, index and middle.
How many degrees of freedom does the Unitree Dex3-1 have?
7.
How much can the Unitree Dex3-1 hold?
500 g.
How much does the Unitree Dex3-1 weigh?
710 g.
Does the Unitree Dex3-1 have tactile sensors?
Yes, 33.
Which robot is the Unitree Dex3-1 made for?
The Unitree G1 humanoid.
How is the Unitree Dex3-1 controlled?
Over USB 2.0 at 1000 Hz.
Specifications are based on manufacturer information and may change.
