Force-Controlled Tactile Dexterous Hand for the Unitree G1The Unitree G1 Dex3-1 3-Finger Dexterous Hand (Tactile Version) is an advanced end-effector designed for the Unitree G1 humanoid robot. Combining force control with tactile sensing across three articulated fingers, it enables the G1 to perform precise, contact-aware manipulation tasks that require real-time feedback on grip force, surface contact, and object properties.Designed for researchers and engineers working on dexterous manipulation, tactile learning, and human–robot interaction, the Dex3-1 Tactile Version brings a new level of sensory capability to the G1 platform.Key Features Force Controller Integration — Closed-loop force control enables precise, compliant grasping and manipulation without damaging delicate objects. Tactile Sensing — Fingertip tactile sensors provide real-time contact feedback for slip detection, surface characterization, and adaptive grip adjustment. 3-Finger Dexterous Configuration — Three articulated fingers deliver the dexterity required for complex grasping, in-hand manipulation, and tool use. G1 Platform Integration — Designed for direct integration with the Unitree G1 humanoid robot arm interface. Research & Development Ready — Full sensor data access for tactile learning, imitation learning, and manipulation algorithm development. Applications Dexterous manipulation research Tactile learning and imitation learning Human–robot interaction and object handover Industrial pick-and-place with force feedback In-hand manipulation and tool use development CompatibilityUnitree G1 humanoid robot
