Multi-joint dexterity
Twenty total degrees of freedom, published as 16 active plus 4.
Unitree Dex5-1
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Overview
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Five-Finger Dexterous Hand
Unitree Dex5-1
Smart adaptability. Precise multi-joint control.
A 20-degree-of-freedom dexterous hand with smooth backdrivability, replaceable fingers, high-frequency communication, and an optional tactile-sensing configuration for advanced manipulation development.
- 20 DOF16 active + 4
- 1100 gPublished hand weight
- 10 mmMinimum grip diameter
- ±1 mmFingertip repeat positioning
- 10 NPublished fingertip strength
- 1000 HzCommunication rate
Official Unitree product media
Product Overview
Designed for fluid, high-precision manipulation development
Unitree describes each finger joint as supporting smooth backdrivability. The low-damping, small-clearance mechanical design is intended to reduce stiffness in motion and support smoother operation, including reinforcement-learning training.
The hand combines 12 self-developed micro force-controlled composite transmission joints with four micro force-controlled gear-transmission joints. All five fingers are listed as independently replaceable.
Smooth backdrivability
Each finger joint supports backdrivable motion according to Unitree.
Independently replaceable fingers
All five fingers are designed to be replaced independently.
RL training focus
The backdrivable design is presented for smoother reinforcement-learning training.
Engineering Highlights
Flexibility across individual fingers and grasp surfaces
Official animations illustrate the independently replaceable fingers and the lateral motion available across the four non-thumb fingers.
Motion preview hidden because reduced motion is enabled.
20 DOF · Five Replaceable Fingers
Independent finger architecture
The thumb has four active degrees of freedom, while the index, middle, ring, and little fingers each have three. Unitree also lists all five fingers as independently replaceable.
Motion preview hidden because reduced motion is enabled.
±22° Four-Finger Lateral Swing
Adaptation to curved object surfaces
Lateral movement across the four non-thumb fingers is presented to improve conformity to curved grasp surfaces and support more reliable gripping.
Hollow-Cup Motor
Unitree lists a high-power-density hollow-cup motor.
High-Precision Encoder
A high-power-density drive is paired with a high-precision encoder.
Micro-Gap Design
Low damping and small clearance are used for smoother joint motion.
Published Grasp Tests
Two orientations, two conditional load results
Unitree reports grasp results at room temperature using a 5 cm round, rigid object. The figures below are orientation-specific test results, not universal hand payload ratings.
Palm Facing Down
3.5 kgMaximum published test weight
Measured at room temperature while grasping a 5 cm round, rigid object with the palm facing downward.
Palm Facing Left
4.5 kgMaximum published test weight
Measured at room temperature while grasping a 5 cm round, rigid object with the palm facing left.
Actual results may change with object shape, diameter, material, contact surface, motion, hand orientation, configuration, and application.
Configuration Comparison
Dex5-1 and tactile-sensing Dex5-1P
The two official configurations share the published mechanical, electrical, and core software specifications. Dex5-1P adds pressure-sensor arrays and sensor-specific feedback.
Unitree Dex5-1
The standard dexterous-hand configuration without the pressure-sensor array specifications listed for Dex5-1P.
- 20 degrees of freedom, published as 16 active + 4
- 1100 g and 217.3 × 127.5 × 72.1 mm
- USB 2.0 and 1000 Hz communication
- Joint, electrical, temperature, and IMU feedback
Unitree Dex5-1P
The pressure-sensing configuration, with published sensing coverage across the palm, finger pads, fingertips, and four finger roots.
- Unitree lists 12 array sensors and 94 pressure sensors in total
- Published sensing range of 10–2500 g
- Pressure and sensor-temperature feedback
- Supports secondary development of tactile algorithms
| Selection Point | Dex5-1 | Dex5-1P |
|---|---|---|
| Body and mechanical specifications | Officially listed common specifications | Officially listed common specifications |
| Pressure-sensor arrays | Not listed | Unitree lists 12 array sensors; 94 pressure sensors in total |
| Published sensing range | Not listed | 10–2500 g |
| Perceptual feedback difference | Joint and system feedback | Adds sensor pressure and sensor temperature values |
| Selection focus | Confirm when pressure-array sensing is not required. | Confirm when the published tactile sensing is required. |
Dex5-1P Tactile Sensing
Pressure sensing distributed across the hand
Unitree lists 12 array sensors and 94 pressure sensors in total. The published regional resolution breakdown below accounts for all 94 individual sensor positions without inferring the physical array layout.
Dex5-1P Total
94Individual pressure-sensor positions distributed across the palm, five finger pads, five fingertips, and four finger-root areas.
Palm
Ten published sensor positions across the palm region.
Finger Pads
Six positions per finger pad across five fingers: 30 total.
Fingertips
Six positions per fingertip across five fingers: 30 total.
Finger Roots
Six positions per finger root across four fingers: 24 total.
Important: Unitree lists a 20 kg maximum accepted
sensor load without damage under its stated 1 cm cylinder pressure
test condition.[2] This is not a 20 kg hand payload,
grasp-load, or lifting specification.
Joint Range
Published movement range by joint group
Dex5-1 and Dex5-1P share the same published joint-angle ranges.
Thumb
Four active degrees of freedom
- Thumb Joint 0−33.5° to 39°
- Thumb Joint 10° to 100°
- Thumb Joint 20° to 110°
- Thumb Joint 30° to 92°
Four-Finger Joints
Index, middle, ring, and little fingers
- Knuckle 0−22° to 22°
- Knuckle 10° to 90°
- Knuckle 20° to 95°
- Knuckle 30° to 81°
Unitree states that four-finger Knuckle 3 is coupled with finger joint 2. Four-finger lateral swing is published as ±22°.
Integration Essentials
Published electrical, communication, and feedback details
Confirm power, current capacity, USB communication, packet handling, and the required feedback variables within the complete system design.
Working Voltage24–60 V
Static Current58 V @ 0.2 A
Maximum Current58 V @ 4 A
InterfaceUSB 2.0
Communication Rate1000 Hz
Sender Packet1234 bytes
Receiver Packet1270 bytes
Working Temperature−20°C to 60°C
Perceptual Feedback
Both configurations: joint mode, joint position, joint velocity, joint torque, joint temperature, voltage and current, and IMU data.
Dex5-1P additionally: sensor pressure values and sensor temperature values.
Control Feedback
Both configurations list joint mode, joint position, joint velocity, joint torque, joint stiffness coefficient, and joint damping coefficient.
Complete Product Parameters
Dex5-1 and Dex5-1P specifications
The tables below retain Unitree's distinction between body parameters, sensing parameters, and software functions.
Body Parameters
| Parameter | Dex5-1 | Dex5-1P |
|---|---|---|
| Weight | 1100 g | 1100 g |
| Size [1] | 217.3 × 127.5 × 72.1 mm Final shipped version may vary. |
217.3 × 127.5 × 72.1 mm Final shipped version may vary. |
| Active Degrees of Freedom | Thumb × 4; index × 3; middle × 3; ring × 3; little × 3 | Thumb × 4; index × 3; middle × 3; ring × 3; little × 3 |
| Transmission Mechanism | 12 self-developed micro force-controlled composite transmission joints; 4 micro force-controlled joint gear transmissions | 12 self-developed micro force-controlled composite transmission joints; 4 micro force-controlled joint gear transmissions |
| Thumb Joint Angles | J0: −33.5°–39°; J1: 0°–100°; J2: 0°–110°; J3: 0°–92° | J0: −33.5°–39°; J1: 0°–100°; J2: 0°–110°; J3: 0°–92° |
| Four-Finger Joint Angles | J0: −22°–22°; J1: 0°–90°; J2: 0°–95°; J3: 0°–81° (coupled with J2) | J0: −22°–22°; J1: 0°–90°; J2: 0°–95°; J3: 0°–81° (coupled with J2) |
| Four-Finger Lateral Swing | ±22° | ±22° |
| Minimum Grip Diameter | 10 mm | 10 mm |
| Fingertip Repeat Positioning Accuracy | ±1 mm | ±1 mm |
| Fingertip Strength | 10 N | 10 N |
| Working Voltage | 24–60 V | 24–60 V |
| Static Current | 58 V @ 0.2 A | 58 V @ 0.2 A |
| Maximum Current | 58 V @ 4 A | 58 V @ 4 A |
| Communication Interface | USB 2.0 | USB 2.0 |
| Working Temperature Range | −20°C to 60°C | −20°C to 60°C |
| Load Test — Palm Facing Down | Maximum 3.5 kg at room temperature with a 5 cm round rigid object | Maximum 3.5 kg at room temperature with a 5 cm round rigid object |
| Load Test — Palm Facing Left | Maximum 4.5 kg at room temperature with a 5 cm round rigid object | Maximum 4.5 kg at room temperature with a 5 cm round rigid object |
Sensing Parameters
| Parameter | Dex5-1 | Dex5-1P |
|---|---|---|
| Number of Pressure Sensors | Not listed | Unitree lists 12 array sensors; 94 pressure sensors in total |
| Array Resolution | Not listed | 2 × 5 palm; 2 × 3 per finger pad × 5; 2 × 3 per fingertip × 5; 2 × 3 per finger root × 4 |
| Range of Perception | Not listed | 10–2500 g |
| Maximum Accepted Sensor Load Without Damage [2] | Not listed | 20 kg under the stated sensor pressure test condition; not a hand payload rating |
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 |
[1] The published size is measured with the dexterous hand in a flat state. Unitree notes that the final shipped version may vary.
[2] Unitree describes the sensing value as pressure applied by a vertically downward 1 cm-diameter cylinder. Results vary by application. The published 20 kg value is not a general hand payload or grasp-load rating.
[3] Parameters may vary across scenarios and configurations. Refer to the actual application.
[4] Product appearance is subject to change. 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] Refer to Unitree Robotics for related terms and policies, and comply with applicable local laws and regulations.
Frequently Asked Questions
Dex5-1 configuration and integration details
What is the main difference between Dex5-1 and Dex5-1P?
The published body and core software specifications are the same. Dex5-1P lists 12 array sensors with 94 pressure sensors in total, a 10–2500 g sensing range, and pressure and sensor-temperature feedback.
What does 20 degrees of freedom mean?
Unitree publishes 20 total degrees of freedom as 16 active plus 4. The active distribution is thumb × 4, with three each for the index, middle, ring, and little fingers.
Can the fingers be replaced independently?
Unitree states that all five fingers can be replaced independently. The official product page does not specify whether spare fingers or replacement tools are included.
Are the 94 pressure sensors included on both versions?
No. Unitree lists 12 array sensors and 94 total pressure sensors for Dex5-1P. The corresponding sensing specifications are not listed for Dex5-1.
Does the Dex5-1P sensing specification mean it can lift 20 kg?
No. The 20 kg figure appears under Dex5-1P sensing parameters and is associated with Unitree's stated 1 cm-cylinder pressure condition. It is not published as a hand payload, grasp-load, or lifting rating.
What do the 3.5 kg and 4.5 kg grasp figures mean?
They are orientation-specific test results at room temperature using a 5 cm round, rigid object. Unitree lists up to 3.5 kg with the palm facing down and up to 4.5 kg with the palm facing left.
What precision and object-size specifications are published?
Unitree publishes a 10 mm minimum grip diameter, ±1 mm fingertip repeat positioning accuracy, and 10 N fingertip strength for both configurations.
What power and communication specifications are listed?
The published working-voltage range is 24–60 V. Static current is listed as 58 V @ 0.2 A and maximum current as 58 V @ 4 A. Communication uses USB 2.0 at a published 1000 Hz rate.
Which humanoid robots are compatible with Dex5-1?
The official Dex5-1 product page does not provide a platform compatibility list. Confirm the intended robot, mounting, handedness, electrical, and software integration with SpeedyDrone before ordering.
Is the hand plug-and-play, and what is included?
Unitree's product page does not specify plug-and-play operation or package contents. Confirm the selected configuration and complete integration requirements before purchase.
SpeedyDrone Canada
Confirm the right Dex5-1 configuration for your project
Contact SpeedyDrone to discuss Canadian availability, Dex5-1 versus Dex5-1P selection, and mechanical, electrical, and software integration requirements for the intended 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.