Unitree Dex3-1 Tactile Dexterous Hand
Unitree Dex3-1 tactile dexterous hand — a three-finger, force-controlled hand with 33 pressure sensors for the G1 EDU. This listing is the left hand; the right hand is one click away.
- Unitree G1 EDU
About the Unitree Dex3-1 Tactile Dexterous Hand
The Unitree Dex3-1 tactile dexterous hand is the three-finger, force-controlled end effector with a 33-sensor tactile array, made for the Unitree G1 EDU humanoid. It is sold per hand — left or right — for new robot configurations, replacements and contact-rich development work.
For labs and developers, it is the manipulation option for grasping work that needs contact-level data: slip detection, force estimation, and collecting tactile demonstration data through teleoperation and retargeting on the G1 EDU.
Thirty-Three Pressure Sensors, Nine Array Modules
What sets the Unitree Dex3-1 tactile dexterous hand apart is its sensor skin: 33 pressure sensors arranged in nine array modules. Three 2×2 arrays sit across the palm, each finger pad carries another 2×2 array, and each fingertip carries a 3×1 array — so all three fingers sense contact from pad to tip.
The array reads from 10 g up to 2,500 g of force and withstands loads up to 20 kg, and the readings stream over the same USB link alongside the joint feedback — no separate interface for the sensor data.
In practice, that contact-level data is what tactile manipulation research runs on: detecting slip before a grasp fails, estimating contact force and pressure distribution, and training policies on real touch data instead of joint torque alone.
- 33 pressure sensors in 9 array modules — palm, finger pads, fingertips
- 10 g – 2,500 g sensing range; 20 kg withstand load
- Slip detection, force estimation and tactile policy training
Seven Driven Joints, Force Control at 1,000 Hz
Under the sensor skin, the Unitree Dex3-1 tactile dexterous hand runs the same drive stack as the standard version: seven joints across three fingers — three in the thumb, two each in the index and middle fingers. Six joints are direct-drive micro brushless force-control units and one is gear-driven, all running force-position hybrid control at 1,000 Hz.
Every joint reports position, velocity, torque and temperature, and stiffness and damping are programmable per joint — so the fingers comply when they meet an object instead of driving through it. That is what makes repeatable pinch and tripod grasps possible: ±2 mm fingertip repeatability, a 500 g grasping load, and 400 W of peak power for quick firmer grips.
- 7 DoF across three fingers — thumb ×3, index ×2, middle ×2
- Direct-drive force-control joints with torque feedback
- Programmable stiffness & damping for compliant contact
Tactile vs Standard: Which Dex3-1 to Buy
Unitree makes the Dex3-1 in two versions. This page is the tactile version — it adds a sensor skin on the same hand as the standard Dex3-1.
| Tactile (this page) | Standard | |
|---|---|---|
| Force control | 7-DoF hybrid force/position control | Same 7-DoF force-control stack |
| Tactile sensing | 33 pressure sensors across palm, finger pads and fingertips | |
| Feedback data | Joint position, velocity, torque, temperature + pressure array | Joint position, velocity, torque, temperature |
| Best for | Contact-rich research — slip detection, force estimation, tactile policy training | Grasping pipelines, teleoperation, replacement |
| Sold as | Per hand — left or right | Per hand — left or right |
How to Tell the Left Hand from the Right
The Dex3-1 is sold per hand, and the left and right hands are mirror builds — they are not interchangeable. To identify a hand in the lab, check the engraving at the base of the thumb: L for left, R for right. The power cable also exits toward the hand's own side.
Order a single hand for a replacement or for single-arm tasks. For bilateral manipulation on the G1 EDU, plan a pair — one left hand and one right hand, added as two line items on your quote.
- L / R engraved at the base of the thumb
- Cable exits toward the hand's own side
- A full G1 EDU setup uses two — one left, one right
The Tactile Dexterous-Hand Option for the G1 EDU
The Unitree Dex3-1 tactile dexterous hand is the three-finger tactile hand option Unitree lists for the G1 EDU family, and it fits every G1 EDU configuration from the U1 tier up. The hand mounts at the wrist interface and connects over USB.
The R1 EDU and the G1-D take their own dedicated Dex3-1 packages, which add a wrist-mounted RGB camera — this listing is the G1 EDU version.
Specifications
| Left Hand | Right Hand | |
|---|---|---|
| Type | Three-finger force-controlled dexterous hand with tactile sensing | Three-finger force-controlled dexterous hand with tactile sensing |
| Hand | Left (L engraved at the base of the thumb) | Right (R engraved at the base of the thumb) |
| Version | Tactile — 33 pressure sensors across palm, finger pads and fingertips | Tactile — 33 pressure sensors across palm, finger pads and fingertips |
| Degrees of freedom | 7 — thumb ×3 · index ×2 · middle ×2 | 7 — thumb ×3 · index ×2 · middle ×2 |
| Actuation | 6 direct-drive micro brushless joints + 1 gear-driven joint | 6 direct-drive micro brushless joints + 1 gear-driven joint |
| Weight | 710 g | 710 g |
| Dimensions | 175 × 88 × 77 mm (flat state) | 175 × 88 × 77 mm (flat state) |
| Thumb joint range | J0 −60°~60° · J1 −35°~60° · J2 0~100° | J0 −60°~60° · J1 −35°~60° · J2 0~100° |
| Index joint range | J0 0~90° · J1 0~100° | J0 0~90° · J1 0~100° |
| Middle joint range | J0 0~90° · J1 0~100° | J0 0~90° · J1 0~100° |
| Fingertip repeatability | ±2 mm | ±2 mm |
| Max grasping load | 500 g (5 cm round rigid object, palm facing down or sideways) | 500 g (5 cm round rigid object, palm facing down or sideways) |
| Tactile sensors | 33 pressure sensors in 9 array modules | 33 pressure sensors in 9 array modules |
| Sensor layout | Palm 2×2 ×3 · finger pads 2×2 ×3 · fingertips 3×1 ×3 | Palm 2×2 ×3 · finger pads 2×2 ×3 · fingertips 3×1 ×3 |
| Sensing range | 10 g – 2,500 g | 10 g – 2,500 g |
| Max sensor withstand load | 20 kg | 20 kg |
| Peak power | 400 W (3 s max) | 400 W (3 s max) |
| Operating voltage | 12–58 V | 12–58 V |
| Static current | 0.2 A @ 58 V | 0.2 A @ 58 V |
| Max current | 10 A | 10 A |
| Communication | USB 2.0 · 1,000 Hz | USB 2.0 · 1,000 Hz |
| Joint feedback | Position · velocity · torque · temperature; adjustable stiffness & damping | Position · velocity · torque · temperature; adjustable stiffness & damping |
| Joint modules | F-1515-108 / F-1515-214 — 45 g, rotor absolute encoder | F-1515-108 / F-1515-214 — 45 g, rotor absolute encoder |
| Operating temperature | −20 °C to 60 °C | −20 °C to 60 °C |
| Fits | Unitree G1 EDU (U1 and higher tiers) | Unitree G1 EDU (U1 and higher tiers) |
| In the box | Unitree Dex3-1 tactile dexterous hand — left hand | Unitree Dex3-1 tactile dexterous hand — right hand |
Shipping & Service
The hand ships worldwide by DHL or FedEx in protective industrial packaging; exact transit time is confirmed with your quote.
Every unit is 100% quality-inspected before it ships, so it arrives in perfect working order.
Last updated: September 2026.
Frequently Asked Questions
Can't find what you're looking for? Contact our
