Description
- Unitree Dex5-1 Tactile Hand (Right)
- Designed for Unitree H1/H1-2 humanoid robots
- 20 Degrees of Freedom with Independent Finger Replacement
- 94 Tactile Sensors per Hand – Supports advanced tactile feedback
- High-Speed Reflexes with Micro Force-Controlled Joints
- Ultra-Precise Fingertip Control with ±1mm repeat positioning accuracy
The Unitree Dex5-1 Tactile Hand for Unitree H1/H1-2 (Right) is a next-generation robotic hand engineered for high-performance humanoid applications, designed specifically for compatibility with the Unitree H1 and H1-2 robots. Featuring 20 degrees of freedom and individually replaceable fingers, the Dex5-1 sets a new benchmark in robotic dexterity. Each joint is designed for smooth backdrivability, eliminating the rigid, "stiff-hand" sensation and providing the fluid responsiveness required for reinforcement learning (RL) environments. Its four-finger lateral swing (±22°) enhances grip reliability, adapting intelligently to curved and irregular surfaces.
Built for both speed and sensitivity, the Dex5-1 integrates 94 tactile sensors per hand and supports secondary algorithm development, giving researchers and developers complete control down to the millimeter. High-power density hollow-cup motors, micro force-controlled transmission, and ultra-low damping joint design ensure lightning-fast reflexes and seamless motion. With fingertip positioning accuracy of ±1mm, gripping strength of up to 10N, and a load capacity of up to 4.5 kg, the hand offers both power and finesse.
From its ultra-small joint gap design that prevents snagging, to its 1000Hz communication rate and real-time perceptual feedback—including position, torque, stiffness, and IMU data—the Dex5-1 is engineered for high-fidelity interaction. Whether in academic research, advanced robotics training, or real-world manipulation tasks, the Unitree Dex5-1 delivers unmatched tactile control and adaptability.
- 1x Unitree Dex5-1 Tactile Hand for Unitree H1/H1-2 (Right)
- 217.3 x 127.5 x 72.1 mm (Note: The final shipped version may vary.)
- Minimum grip diameter: 10 mm
- Fingertip Repeat Positioning Accuracy: ±1 mm
Body Parameters
- Degrees of Freedom
- Thumb x4
- Index Finger x3
- Middle Finger x3
- Ring Finger x3
- Little Finger x3
- Transmission Mechanism
- 12 self-developed micro force-controlled composite transmission joints (enable robot to achieve tactile proprioception)
- 4 micro force-controlled joint gear transmission
- Angle of Joint
- Thumb Joint:
- Thumb Joint 0: -33.5° ~ 39°
- Thumb Joint 1: 0° ~ 100°
- Thumb Joint 2: 0° ~ 110°
- Thumb Joint 3: 0° ~ 92°
- Four-Finger Joints:
- Knuckles 0: -22° ~ 22°
- Knuckles 1: 0° ~ 90°
- Knuckles 2: 0° ~ 95°
- Knuckles 3: 0° ~ 81°(Coupling with finger joint 2)
- Thumb Joint:
- Four-Finger Lateral Swing: ±22°
- Fingertip strength: 10N
- Working Voltage: 24V ~ 60V
- Static Current: 58V at 0.2A
- Maximum Current: 58V at 3A
- Communication Interface: USB 2.0
- Working Temperature Range: -20 °C ~ 60 °C
- Load Conditions (Palm facing down at room temperature, grasping a 5cm round hard object): Maximum Weight is 3.5 kg
- Load Condition (Palm facing left at room temperature, grasping a 5cm round hard object): Maximum Weight is 4.5 kg
- Weight: 1000 g
Software functions
- Communication rate: 1000 Hz
- The number of bytes in a full packet
- Sender：1234 bytes
- Receiver：1270 bytes
- Perceptual feedback: Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, imu Data
- Control feedback: Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient
WARNING: This product can expose you to chemicals including lead and lead compounds, which are known to the State of California to cause cancer and birth defects or other reproductive harm. For more information go to: www.P65Warnings.ca.gov.