Unitree Dex3-1

Name: Unitree Dex3-1
SKU: 47677156982921
Availability: OutOfStock

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Three-Finger Force-Controlled Dexterous Hand

Unitree Dex3-1

Force-controlled dexterous hand for precise manipulation.

Combining hybrid force-position control with responsive, reliable operation, Dex3-1 emulates human-hand manipulation for precise object handling.

7 Degrees of Freedom
33 Pressure Sensors
Unitree G1 Compatibility

7 Degrees of freedom across seven actuated joints

6 + 1 Six direct-drive joints plus one geared joint

33 Pressure sensors across nine sensor arrays

1000 Hz Published communication rate

Hybrid Force-Position Control

Responsive, reliable object manipulation

Dex3-1 combines force and position control for precise object manipulation and responsive, accurate data collection.

Unitree lists Dex3-1 for use with the G1 humanoid robot to perform complex movements.

Unitree Dex3-1 tactile pressure-sensor locations

Dex3-1 Three-Finger Dexterous Hand

Seven degrees of freedom and tactile sensing

Dex3-1 has seven degrees of freedom across seven actuated joints. Six miniature brushless force-controlled joints use direct drive, while one uses gear transmission. Each hand includes 33 tactile pressure sensors.

3 Fingers

9 Sensor arrays

33 Pressure sensors in total

10–2500 g Published sensing range

Product Parameters

Unitree Dex3-1 specifications

Hand, sensing, software, and miniature joint specifications are separated below.

View Official User Manual

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
Operating Voltage	12–58 V
Static Current	58 V @ 0.2 A
Maximum Current	10 A
Communication Interface	USB 2.0
Operating Temperature Range	−20°C to 60°C
Palm-Down Load Test	At room temperature while grasping a 5 cm round rigid object: maximum weight 500 g; maximum power 400 W for 3 s
Palm-Facing-Left Load Test	At room temperature while grasping a 5 cm round rigid object: maximum weight 500 g; maximum power 400 W for 3 s

Joint Angle Ranges

Thumb Joints	Joint 0: −60° to 60° Joint 1: −35° to 60° Joint 2: 0° to 100°
Index Finger Joints	Joint 0: 0° to 90° Joint 1: 0° to 100°
Middle Finger Joints	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

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
Operating Temperature Range	−20°C to 60°C	−20°C to 60°C
IP Rating	Not specified	Not specified
Operating 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 value is not a gripping payload

It is the published maximum tolerated applied load without damage when the dexterous hand is pressed vertically downward by a 1 cm diameter cylinder. Results vary by application.

[1] The dimensions are measured with the dexterous hand laid flat.

[2] This value refers to the pressure applied when the dexterous hand is pressed vertically downward by a cylinder with a diameter of 1 cm. It varies across application scenarios; refer to actual conditions.

[3] This product is a civilian robot. Users should not make dangerous modifications or use the robot in a hazardous manner.

[4] Visit the Unitree Robotics website for related terms and policies, and comply with applicable local laws and regulations.

Frequently Asked Questions

Dex3-1 product details

How many degrees of freedom does Dex3-1 have?

Dex3-1 has seven degrees of freedom across seven actuated joints: three at the thumb, two at the index finger, and two at the middle finger.

How many pressure sensors are included?

Dex3-1 has nine pressure-sensor arrays containing 33 pressure sensors in total.

Is the 20 kg value a gripping payload?

No. It is the maximum tolerated applied load without damage under Unitree's specified 1 cm vertical-cylinder pressure test.

What do the 500 g and 400 W @ 3 s values mean?

For both published orientations—palm facing down and palm facing left—Unitree specifies 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.

Which Unitree humanoid robot is officially listed for use with Dex3-1?

Unitree specifically lists its G1 humanoid robot.

Where can I read the official user manual?

The official English manual is available on Unitree's Dex3-1 User Manual page.

SpeedyDrone Canada

Confirm your Unitree Dex3-1 configuration

Contact SpeedyDrone for Canadian availability and confirmation of Dex3-1 compatibility and project requirements.

Contact SpeedyDrone

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.

Unitree Dex3-1