Unitree G1 Dex3-1 Force Control Three Finger Agile Hand (Tactile Version)

€7,973.00 *

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Delivery time: 14 business days

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Item no: F25111138
Weight: 2,72 kg
Packing dimensions: 30.5 cm x 25.5 cm x 20.5 cm (L x W x H)

€7,973.00 * Unitree G1 Dex3-1 Force Control Three Finger Agile Hand (Tactile Version)

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Unitree G1 - Humanoid robot

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from €27,370.00 *

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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... more

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)

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