Unitree Dex3-1 Power Control Dexterous Hand, Operate Everything Combined with force and position hybrid control, it is sensitive and reliable, and can simulate the precise operation of the object Collect data, Sensitive and Accurate Open source links > Dex3-1 Dex3-1 three-finger dexterous hand, with 7 degrees of freedom 7 motion off machine: 6 micro brushless force control joint direct drive, 1 micro brushless force control joint gear drive, one hand with 33 tactile sensors. It can be used with G1 humanoid robot to perform various complex actions. Product Parameters User Manual > 🤖 Unitree Dex3-1 Dexterous Hand – Technical Specification Table Category Parameter Value 🧱 Body Parameters Weight 710g Size 175mm × 88mm × 77mm Degrees of Freedom Thumb × 3, Index × 2, Middle × 2 Transmission Mechanism 6 Direct Drive Motors + 1 Gear Drive Motor Fingertip Sensors 33 Tactile Sensors 🔩 Joint Angles Thumb Joint 0 -60° ~ 60° Thumb Joint 1 -35° ~ 60° Thumb Joint 2 0° ~ 100° Index Finger Joint 0 0° ~ 90° Index Finger Joint 1 0° ~ 100° Middle Finger Joint 0 0° ~ 90° Middle Finger Joint 1 0° ~ 100° 🎯 Performance Repeat Positioning Accuracy ±2mm Working Voltage 12V ~ 58V Static Current @ 58V 0.2A Max Current 10A Working Temperature Range -20°C ~ 60°C 🧪 Load Conditions Max Grasping Weight (Palm Down) 500g Max Power (Palm Down) 400W @ 3s Max Grasping Weight (Palm Left) 500g Max Power (Palm Left) 400W @ 3s 📡 Sensing Parameters Pressure Sensors 9 (Total: 33) Palm Sensor Array Resolution 2×2 × 3 Finger Pad Sensor Array Resolution 2×2 × 3 Fingertip Sensor Array Resolution 3×1 × 3 Perception Range 10g ~ 2500g Max Acceptance (Undamaged) 20kg 🔌 Communication Interface USB2.0 Rate 1000Hz Full Packet Size Sender: 1234 bytes / Receiver: 1270 bytes 🧠 Feedback Channels Perceptual Feedback Joint Mode, Position, Velocity, Torque, Temperature, Voltage, Current, Sensor Pressure & Temperature, IMU Control Feedback Joint Mode, Position, Velocity, Torque, Stiffness, Damping ⚙️ Joint Module Specs Model F-1515-108 / F-1515-214 Weight 45g Size 34.8mm × 23.1mm × 23.3mm Reduction Ratio 1:108 / 1:214 Max Torque (Ideal) 0.76Nm / 1.498Nm Max Torque (Actual, Same Direction) 0.49Nm / 0.86Nm Max Torque (Actual, Opposite Direction) 1.37Nm / 3.1Nm Max Rotational Speed 23 rad/s / 11 rad/s Max Line Current 4.76A Control Frequency 1000Hz Communication Method High-Speed Unibus Encoder Type Rotor Absolute Value Encoder Working Voltage 12V ~ 24V IP Rating Not specified Motor Feedback Torque, Angle, Angular Velocity, Temperature Motor Control Torque, Angle, Angular Velocity, Stiffness, Damping
