Hybrid force-position control
Combines force and position variables for precise object interaction.
Unitree Dex3-1
Custom Pricing
Available on Backorder
This item is currently on backorder. Order now to reserve incoming
inventory. Full payment will be collected at checkout.
Please contact us for the current estimated shipping time if you
require this item by a specific date.
Overview
Shipping & Returns
Three-Finger Force-Controlled Dexterous Hand
Unitree Dex3-1
Hybrid force-position control for precise manipulation.
A three-finger hand combining seven actuated joints, tactile pressure sensing, high-frequency communication, and published use with the Unitree G1 humanoid robot.
- 7 DOFThumb × 3; index × 2; middle × 2
- 710 gPublished hand weight
- 33Pressure sensors in total
- ±2 mmFingertip repeat positioning
- 1000 HzCommunication rate
- USB 2.0Published communication interface
Product Overview
Force, position, and tactile feedback in one three-finger hand
Unitree presents Dex3-1 with hybrid force-position control for sensitive, reliable manipulation and accurate data collection. Seven degrees of freedom are distributed across the thumb, index finger, and middle finger.
Six miniature brushless force-controlled joints use direct drive, while one uses a geared drive. Thirty-three pressure sensors add contact information across the palm, finger pads, and fingertips.
Mixed transmission architecture
Six direct-drive joints plus one miniature geared joint.
Distributed tactile sensing
Nine arrays containing 33 pressure sensors in total.
Published G1 use
Unitree specifically lists use with its G1 humanoid robot.
Control Architecture
Seven actuated joints across three fingers
The thumb provides three degrees of freedom, while the index and middle fingers provide two each.
Degree-of-freedom distribution
Published active joint allocation by finger.
3
Thumb
Joint ranges: −60°–60°, −35°–60°, and 0°–100°.
2
Index Finger
Joint ranges: 0°–90° and 0°–100°.
2
Middle Finger
Joint ranges: 0°–90° and 0°–100°.
Tactile Sensing
Nine arrays, 33 pressure sensors
Unitree distributes the published sensor positions across three palm regions, three finger pads, and three fingertips.
Palm Regions
Three groups with 12 sensor positions total.
Finger Pads
Three finger-pad groups with 12 positions total.
Fingertips
Three fingertip groups with 9 positions total.
Sensing Range
Unitree's published perception range.
12 palm positions + 12 finger-pad positions + 9 fingertip positions
= 33 pressure sensors in total.
Published Platform Use
Listed for use with the Unitree G1 humanoid robot
Unitree states that Dex3-1 can be used with G1 to perform complex movements. The complete installation still requires configuration-specific validation.
Published Grasp Tests
The same conditional result in two orientations
Unitree reports the values below at room temperature while grasping a 5 cm round, rigid object. They are conditional test figures, not general payload or continuous-power ratings.
Palm Facing Down
500 gMaximum published test weight
Unitree also lists maximum power of 400 W for 3 seconds for this room-temperature, 5 cm round-object test.
Palm Facing Left
500 gMaximum published test weight
Unitree also lists maximum power of 400 W for 3 seconds for this room-temperature, 5 cm round-object test.
“400 W @ 3 s” is a short-duration maximum-power figure under the stated tests. It is not a continuous operating-power specification.
Joint Movement Range
Published angles across all seven joints
Thumb
Three degrees of freedom
- Joint 0−60° to 60°
- Joint 1−35° to 60°
- Joint 20° to 100°
Index Finger
Two degrees of freedom
- Joint 00° to 90°
- Joint 10° to 100°
Middle Finger
Two degrees of freedom
- Joint 00° to 90°
- Joint 10° to 100°
Integration Essentials
Published hand-level electrical and data requirements
These values describe the complete hand. The individual miniature joint modules have a separate 12–24 V specification shown later.
Hand Working Voltage12–58 V
Static Current58 V @ 0.2 A
Maximum Current10 A
InterfaceUSB 2.0
Communication Rate1000 Hz
Sender Packet1234 bytes
Receiver Packet1270 bytes
Working Temperature−20°C to 60°C
Perceptual Feedback
Joint mode, joint position, joint velocity, joint torque, joint temperature, voltage and current, sensor pressure, sensor temperature, and IMU data.
Control Feedback
Joint mode, joint position, joint velocity, joint torque, joint stiffness coefficient, and joint damping coefficient.
Joint Module Comparison
F-1515-108 and F-1515-214 joint specifications
Unitree publishes two miniature brushless force-controlled joint models with different reduction ratios, torque figures, and rotational speeds.
| Parameter | F-1515-108 | F-1515-214 |
|---|---|---|
| Weight / Dimensions | 45 g / 34.8 × 23.1 × 23.3 mm | 45 g / 34.8 × 23.1 × 23.3 mm |
| Reduction Ratio | 1:108 | 1:214 |
| Maximum Torque — Ideal | 0.76 N·m | 1.498 N·m |
| Actual Torque — Same Direction as Speed | 0.49 N·m | 0.86 N·m |
| Actual Torque — Opposite Direction to Speed | 1.37 N·m | 3.1 N·m |
| Maximum Rotational Speed | 23 rad/s | 11 rad/s |
| Shared Published Details | 4.76 A maximum line current; 1000 Hz control frequency; High-Speed UniBus; rotor absolute encoder; 12–24 V; −20°C to 60°C | |
Complete Product Parameters
Unitree Dex3-1 specifications
Hand, sensing, software, and joint-module specifications are separated below to prevent hand-level and component-level values from being mixed.
Body Parameters
| Weight | 710 g |
|---|---|
| Dimensions [1] | 175 × 88 × 77 mm |
| Degrees of Freedom | 7 — thumb × 3; index finger × 2; middle finger × 2 |
| Transmission Mechanism | 6 miniature brushless force-controlled joints with direct drive; 1 miniature brushless force-controlled joint with gear transmission |
| 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 to 60°C |
| Palm-Down Load Test | At room temperature with a 5 cm round rigid object: maximum weight 500 g; maximum power 400 W @ 3 s |
| Palm-Facing-Left Load Test | At room temperature with a 5 cm round rigid object: maximum weight 500 g; maximum power 400 W @ 3 s |
Joint Angle Ranges
| Thumb | Joint 0: −60° to 60°; Joint 1: −35° to 60°; Joint 2: 0° to 100° |
|---|---|
| Index Finger | Joint 0: 0° to 90°; Joint 1: 0° to 100° |
| Middle Finger | Joint 0: 0° to 90°; Joint 1: 0° to 100° |
Sensing Parameters
| Pressure-Sensor Arrays | 9 arrays; 33 pressure sensors in total |
|---|---|
| Array Resolution | 2 × 2 palm × 3; 2 × 2 single finger pad × 3; 3 × 1 single fingertip × 3 |
| Sensing Range | 10–2500 g |
| Maximum Tolerated Applied Load Without Damage [2] | 20 kg under the stated pressure-test condition; not a gripping payload |
Software Functions
| Communication Rate | 1000 Hz |
|---|---|
| Full-Packet Size | Sender: 1234 bytes; receiver: 1270 bytes |
| Perceptual Feedback | Joint mode, joint position, joint velocity, joint torque, joint temperature, voltage and current, sensor pressure value, sensor temperature value, IMU data |
| Control Feedback | Joint mode, joint position, joint velocity, joint torque, joint stiffness coefficient, joint damping coefficient |
Miniature Brushless Force-Controlled Joint Parameters
| Parameter | F-1515-108 | F-1515-214 |
|---|---|---|
| Official Model Name | F-1515-108 Miniature Brushless Force-Controlled Joint | F-1515-214 Miniature Brushless Force-Controlled Joint |
| Weight | 45 g | 45 g |
| Dimensions | 34.8 × 23.1 × 23.3 mm | 34.8 × 23.1 × 23.3 mm |
| Reduction Ratio | 1:108 | 1:214 |
| Maximum Torque — Ideal | 0.76 N·m | 1.498 N·m |
| Actual Torque — Same Direction as Rotational Speed | 0.49 N·m | 0.86 N·m |
| Actual Torque — Opposite Direction to Rotational Speed | 1.37 N·m | 3.1 N·m |
| Maximum Rotational Speed | 23 rad/s | 11 rad/s |
| Maximum Line Current | 4.76 A | 4.76 A |
| Communication Control Frequency | 1000 Hz | 1000 Hz |
| Communication Method | High-Speed UniBus | High-Speed UniBus |
| Encoder | Rotor absolute encoder | Rotor absolute encoder |
| Working Temperature Range | −20°C to 60°C | −20°C to 60°C |
| IP Rating | Not specified | Not specified |
| Working Voltage | 12–24 V | 12–24 V |
| Motor Feedback | Torque, angle, angular velocity, temperature | Torque, angle, angular velocity, temperature |
| Motor Control Commands | Torque, angle, angular velocity, stiffness, damping | Torque, angle, angular velocity, stiffness, damping |
The 20 kg sensing value is not a gripping payload
Unitree lists it as the maximum tolerated applied load without damage when the hand is pressed vertically downward by a 1 cm-diameter cylinder. Results vary by application.
[1] The published dimensions are measured with the dexterous hand laid flat.
[2] This value refers to pressure applied by a vertically downward cylinder with a diameter of 1 cm. It varies across application scenarios and is not a payload rating.
[3] This product is a civilian robot. Users should not make dangerous modifications or use the robot in a hazardous manner.
[4] Refer to Unitree Robotics for related terms and policies, and comply with applicable local laws and regulations.
Frequently Asked Questions
Dex3-1 product and integration details
How are the seven degrees of freedom distributed?
Dex3-1 has three thumb joints, two index-finger joints, and two middle-finger joints, for seven actuated joints in total.
What does hybrid force-position control mean in this listing?
Unitree describes Dex3-1 as combining force and position control for sensitive, reliable object operation and precise data collection. Application-specific control behavior must be validated within the complete system.
How many pressure sensors does Dex3-1 include?
Unitree lists nine pressure-sensor arrays containing 33 pressure sensors in total, distributed across palm, finger-pad, and fingertip regions.
Is the 20 kg sensing value a gripping payload?
No. It is a maximum tolerated applied load without damage under Unitree's stated 1 cm vertical-cylinder pressure test. It is not a payload, grasp-load, lifting, or rated-load value.
What do the 500 g and 400 W @ 3 s figures mean?
For both published orientations—palm facing down and palm facing left—Unitree lists a maximum weight of 500 g and maximum power of 400 W for 3 seconds at room temperature while grasping a 5 cm round, rigid object. The power figure is not stated as continuous.
Which Unitree robot is officially listed for use with Dex3-1?
Unitree specifically lists use with its G1 humanoid robot. Confirm the complete mechanical, electrical, handedness, and software configuration before ordering.
What voltage should be used for the hand?
The current Dex3-1 product page lists a 12–58 V working range for the complete hand. The individual miniature joint modules separately list 12–24 V; these are different specification levels.
What data and control feedback are published?
Perceptual feedback includes joint, electrical, tactile-sensor, temperature, and IMU information. Control feedback includes joint mode, position, velocity, torque, stiffness coefficient, and damping coefficient.
Where can I read the official Dex3-1 user manual?
The official English manual is available on Unitree's Dex3-1 User Manual page.
Is Dex3-1 plug-and-play, and what is included?
Unitree's product page does not specify plug-and-play operation or package contents. Confirm mounting, handedness, cabling, power, communication, and included items before purchase.
SpeedyDrone Canada
Confirm the right Dex3-1 configuration for your project
Contact SpeedyDrone to discuss Canadian availability, intended G1 use, and the mechanical, electrical, handedness, and software integration requirements for your robotic system.
Shipping & Pickup
Fast Canadian fulfillment, local Toronto pickup, and clear delivery expectations.
Free Shipping
Free shipping is available across most Canadian provinces on orders of CAD $149 or more before tax.
Orders below CAD $149, remote postal codes, and shipments to NT, NU, and YT are charged live carrier rates at checkout.
Dispatch Time
Same-day dispatch is available for in-stock orders confirmed and paid before 4:00 p.m. EST, Monday to Friday.
Orders placed after cutoff, on weekends, or on public holidays ship the next business day.
Estimated Delivery
- Ontario: 1–2 business days
- QC / MB / SK / AB / BC: 2–5 business days
- Atlantic Canada: 3–5 business days
- NT / NU / YT: 3–10 business days, weather dependent
Delivery timelines are estimates from the date of dispatch and exclude weekends and statutory holidays.
Carriers
Orders typically ship with UPS, Purolator, or Canada Post depending on destination, parcel size, and service availability.
Express shipping upgrades, when available, are shown at checkout.
Tracking & Signature
Tracking is emailed automatically once the shipping label is created. Carrier updates may take a few hours to appear.
Most parcels ship with signature required by default for added security.
Toronto Pickup
Eligible items may be available for pickup at SpeedyDrone Toronto. Pickup availability is shown on the product page near the buy box.
Ready time may vary by product availability, order status, and store confirmation.
Returns & Exchanges
We want every order to feel clear and confident. Please review the summary below together with our full policy for complete terms.
30-Day Return Window
Returns may be requested within 30 days from the official delivery date recorded by the carrier.
Item Condition
Items must be unused, unopened, and undamaged, with original packaging, accessories, manuals, and included components.
Proof of Purchase
Proof of purchase is required, such as your order number, receipt, or invoice.
Restocking Fee
Opened or handled items may be subject to a 20% restocking fee, depending on overall condition.