Unitree Dex3-1 Force Control Three Finger Agile Hand (Tactile Version)
The Dex3-1 Tactile is an advanced, force-controlled three-finger robotic hand for humanoid manipulation tasks. Designed as an end effector for the Unitree G1, it combines precise force/position control with dense tactile sensing, enabling controlled, sensitive grasping even with fragile or irregularly shaped objects.
Technical profile
Kinematics: 7 degrees of freedom (thumb 3-DOF, index & middle finger 2-DOF each)
Control: Hybrid of force and position control for stable contacts and sensitive manipulation
Tactile sensors: 33 pressure sensors per hand, distributed across fingers and palm
Precision: Repeat accuracy at the fingertips approx. ±2 mm
Payload (typical): up to ~500 g for precise manipulation tasks
Interfaces: USB-based communication, integrated driver/controller
Operation: wide temperature range (suitable for laboratory and field operation)
Performance features
Contact-aware gripping: The tactile sensors provide high-resolution pressure distributions for safe gripping force control.
Agile gripping patterns: Pinch, tripod and form-fit grips thanks to 7-DOF kinematics.
Gentle object contact: Ideal for sensitive components, laboratory samples or everyday objects.
Research-oriented design: Designed for algorithmic development (force control, manipulation planning, learning from contact).
Typical fields of application
Research & teaching: Robotic manipulation, haptic feedback, reinforcement learning with contact states
Industrial pre-development: prototyping of gripping and assembly processes
Service & humanoid robotics: everyday manipulation with increased safety and reliability
| Technical comparison | ||
| Feature | Dex3-1 Standard Version | Dex3-1 Tactile Version |
| Finger / Kinematics | 3 fingers, 7 DOF | 3 fingers, 7 DOF |
| Thumb | 3 DOF | 3 DOF |
| Index & middle finger | 2 DOF each | 2 DOF each |
| Position control | Position control, simple force limitation | Hybrid control of force & position |
| Tactile sensors | not available | 33 tactile pressure sensors per hand |
| Contact feedback | Only via motor currents | Direct pressure and contact measurement |
| Gripping precision | High | Very high (contact-aware) |
| Sensitive objects | Limited suitability | Very well suited |
| Repeat accuracy | approx. ±2-3 mm | approx. ±2 mm |
| Typical payload | up to ~500 g | up to ~500 g (controlled) |
| Interfaces | USB / proprietary protocol | USB / proprietary protocol |
| Software integration | Basic SDK | Extended SDK with tactile data |
| Cost / complexity | Lower | Higher (sensors + control) |
Integration
The Dex3-1 Tactile is mounted as an end effector on the arm of the Unitree-G1 and is available as an upgrade to the standard Dex3-1. The open control facilitates integration into existing control and research frameworks.
Scope of delivery:
- 1x Unitree G1 Dex3-1 Force Control Three Finger Agile Hand (Tactile Version)
