20 Degrees of Freedom
Five independently replaceable fingers
All five fingers can be replaced individually.
Unitree Dex5-1
Custom Pricing
Overview
Shipping & Returns
Dexterous Hand · Dex5-1 / Dex5-1P
Unitree Dex5-1
Smart adaptability. Instant response.
20 degrees of freedom per hand: 16 active and 4 coupled.
- 20 Total Degrees of Freedom
- 16 Active + 4 Coupled
- Five Replaceable Fingers
20
Total degrees of freedom: 16 active and 4 coupled
5
Fingers, each independently replaceable
±22°
Four-finger lateral movement
1000 Hz
Published communication rate
High Precision · Fine Control
Smooth backdrivability at every finger joint
Every finger joint supports smooth backdrivability. This moves beyond rigid, “stiff-hand” behaviour for smoother operation and more convenient direct reinforcement learning (RL) training.
Responsive Motion
Ultra-fast response and snake-like flexibility
±22° Lateral Movement
Four-finger lateral movement
Adapts more effectively to curved object surfaces for improved grasp reliability.
Dex5-1P Only
Precise tactile feedback
Dex5-1P features 94 tactile sensors per hand and supports secondary development of tactile algorithms for dexterous hands.
12
Sensor arrays
94
Pressure sensors in total
10–2500 g
Published sensing range
High-Power-Density Coreless Motor
High-power-density drive for the dexterous-hand mechanism.
High-Precision Encoder
Paired with the high-power-density drive.
Low-Damping, Low-Clearance Reducer
Part of the joint-drive design presented by Unitree.
Micro-Gap Design
Smooth, effortless motion
The joint rotation axes are positioned closer to the surface, minimizing the gaps around each joint. This enables smoother, more fluid grasping and helps prevent joint edges from catching on objects.
Model Comparison
Dex5-1 and Dex5-1P sensing configurations
Both versions share the published mechanical, electrical, load-test, communication-rate, packet-size, and control-feedback parameters. The pressure-sensing configuration is the key published difference.
Dex5-1
Standard sensing configuration in Unitree's comparison table.
- 20 total degrees of freedom
- 16 active joints and 4 coupled joints
- No pressure-sensor array specified
- Standard joint, electrical, load-test, and control feedback
Dex5-1P
Pressure-sensing configuration in Unitree's comparison table.
- 20 total degrees of freedom
- 12 sensor arrays with 94 pressure sensors in total
- 10–2500 g published sensing range
- Sensor pressure and temperature values in perceptual feedback
Product Parameters
Unitree Dex5-1 / Dex5-1P specifications
Shared parameters and model-specific sensing data are separated below.
Shared Body and Electrical Parameters
| Parameter | Dex5-1 and Dex5-1P |
|---|---|
| Weight | 1100 g |
| Dimensions [1] | 217.3 × 127.5 × 72.1 mm; final shipped version may vary |
| Total Degrees of Freedom | 20 — 16 active and 4 coupled |
| Active Joint Configuration | Thumb × 4; Index Finger × 3; Middle Finger × 3; Ring Finger × 3; Little Finger × 3 |
| Transmission Mechanism | 12 self-developed miniature force-controlled compound-drive joints, enabling proprioceptive sensing without tactile sensors; 4 miniature force-controlled geared joints |
| Four-Finger Lateral Movement | ±22° |
| Minimum Grip Diameter | 10 mm |
| Fingertip Repeat Positioning Accuracy | ±1 mm |
| Fingertip Force | 10 N |
| Operating Voltage | 24–60 V |
| Static Current | 58 V @ 0.2 A |
| Maximum Current | 58 V @ 4 A |
| Communication Interface | USB 2.0 |
| Operating Temperature Range | −20°C to 60°C |
| Palm-Down Load Test | Maximum 3.5 kg at room temperature while grasping a 5 cm round rigid object |
| Palm-Facing-Left Load Test | Maximum 4.5 kg at room temperature while grasping a 5 cm round rigid object |
Joint Angle Ranges — Both Models
| Thumb Joints |
|
|---|---|
| Index, Middle, Ring, and Little Finger Joints |
|
Sensing Parameters
| Parameter | Dex5-1 | Dex5-1P |
|---|---|---|
| Pressure-Sensor Arrays | Not specified | 12 arrays; 94 pressure sensors in total |
| Array Resolution | Not applicable | 2 × 5 (palm); 2 × 3 (single finger pad) × 5; 2 × 3 (single fingertip) × 5; 2 × 3 (single finger root) × 4 |
| Sensing Range | Not applicable | 10–2500 g |
| Maximum Tolerated Load Without Damage [2] | Not applicable | 20 kg |
Software Functions
| Parameter | Dex5-1 | Dex5-1P |
|---|---|---|
| Communication Rate | 1000 Hz | 1000 Hz |
| Full Packet Size | Sender: 1234 bytes; Receiver: 1270 bytes | Sender: 1234 bytes; Receiver: 1270 bytes |
| Perceptual Feedback | Joint mode, joint position, joint velocity, joint torque, joint temperature, voltage and current, IMU data | 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 | Joint mode, joint position, joint velocity, joint torque, joint stiffness coefficient, joint damping coefficient |
The Dex5-1P 20 kg value is not a payload rating
It is the published maximum tolerated load without damage when the dexterous hand is pressed vertically downward by a 1 cm diameter cylinder. The result varies by application; refer to actual conditions.
[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] The parameters above may vary across application scenarios and model configurations. Refer to actual conditions.
[4] Product appearance may be upgraded or adjusted. Refer to the final product.
[5] This product is a civilian robot. Users should not make dangerous modifications or use the robot in a hazardous manner.
[6] Visit the Unitree Robotics website for related terms and policies, and comply with applicable local laws and regulations.
Frequently Asked Questions
Dex5-1 product details
Does Dex5-1 have 20 independently active joints?
No. Unitree specifies 20 total degrees of freedom: 16 active joints and 4 coupled joints. Each four-finger Joint 3 is coupled with Joint 2.
What is the published difference between Dex5-1 and Dex5-1P?
Dex5-1P adds 12 sensor arrays containing 94 pressure sensors in total, a 10–2500 g sensing range, and sensor pressure and temperature values in perceptual feedback. These sensing parameters are not specified for Dex5-1.
Is 20 kg the Dex5-1P gripping payload?
No. It is the maximum tolerated load without damage under Unitree's specified 1 cm vertical-cylinder pressure test. It must not be presented as a payload, rated load, or grip-load specification.
What do the 3.5 kg and 4.5 kg load-test values mean?
At room temperature while grasping a 5 cm round rigid object, Unitree publishes a maximum of 3.5 kg with the palm facing down and 4.5 kg with the palm facing left.
Can the fingers be replaced individually?
Yes. Unitree states that all five fingers can be replaced independently.
SpeedyDrone Canada
Confirm the correct Dex5-1 configuration
Contact SpeedyDrone for Canadian availability and confirmation of the Dex5-1 or Dex5-1P configuration required for your project.
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.