Five-Finger Dexterity and Flexible Movement
The Unitree Dex5-1 is a five-finger dexterous robotic hand with 16 active degrees of freedom. Each finger can be replaced independently, supporting maintenance and component-level replacement. Four fingers feature lateral swing of ±22°, helping the hand adapt to curved surfaces and improve grip reliability when handling objects.
Tactile Sensing and Precise Feedback
The Dex5-1 features 94 pressure sensors distributed across 12 tactile sensor arrays, providing tactile feedback across the palm, finger pads, fingertips and finger roots. Its perception range spans 10–2,500g, supporting detailed contact detection and tactile algorithm development. The hand also provides joint position, velocity, torque and temperature feedback, alongside voltage, current and IMU data.
Joint Design and Gripping Performance
The hand uses 12 self-developed micro force-controlled composite transmission joints and four micro force-controlled gear transmission joints. High-power-density hollow-cup motors, high-precision encoders and low-damping, low-clearance reducers support controlled movement. Its compact joint design places rotation axes closer to the surface, helping reduce gaps where objects could catch during grasping.
Gripping Strength and Positioning Accuracy
The Dex5-1 offers fingertip repeat positioning accuracy of ±1mm and a fingertip force of 10N. Its minimum grip diameter is 10mm. Under specified room-temperature test conditions using a 5cm round hard object, the maximum grasped weight is 3.5kg with the palm facing down and 4.5kg with the palm facing left. The tactile system has a maximum non-damaging acceptance rating of 20kg.
Electrical Specifications and Communication
Operating at 24–60V, the Dex5-1 has a static current of 0.2A at 58V and a maximum current of 4A at 58V. It uses a USB 2.0 communication interface with a communication rate of 1,000Hz. Feedback and control data include joint mode, position, velocity and torque, with adjustable joint stiffness and damping coefficients.
Please Note: This is a left hand variant with dedicated mounting for the H2 humanoid only.
• Five-finger dexterous robotic hand with 16 degrees of freedom (index, middle, ring and little finger provide 3DOF, and the thumb provides 4DOF).
• 94 tactile pressure sensors across 12 sensor arrays, with a perception range of 10–2,500g.
• ±1mm fingertip repeat positioning accuracy for controlled, repeatable movements.
• Whole-hand grasping capacity of up to 3.5kg palm-down or 4.5kg with the palm facing left under specified test conditions.
• Four-finger lateral swing of ±22° for improved adaptability to curved object surfaces.
• 12 self-developed micro force-controlled composite transmission joints and four gear-driven joints.
• Joint position, velocity, torque and temperature feedback, with adjustable stiffness and damping control.
• USB 2.0 communication interface with a 1,000Hz communication rate.
• 24–60V working voltage, with a maximum current of 4A at 58V.
• Tactile system rated for a maximum non-damaging acceptance of 20kg.
• Independently replaceable fingers for easier maintenance and component replacement.
• Operating temperature range of -20°C to 60°C.
• Compact 1,100g design measuring 217.3 × 127.5 × 72.1mm.
