Humanoid hands (Unitree G1)
7-DoF force-controlled hand with per-joint torque / stiffness / damping commands, 500 g grasp and optional 33-point tactile sensing — the stock G1 humanoid hand.
Engineering inference
Unitree Robotics
Unitree Dex3-1 Dexterous Hand
Unitree Dex3-1 is the 3-finger, 7-DoF force-controlled hand of the Unitree G1 humanoid: thumb 3, index 2, middle 2, with 6 direct-drive joints and 1 geared joint (F-1515 brushless force-control joints). It has ±2 mm fingertip repeatability, holds 500 g grasps, and has 33 pressure sensors on the tactile version. It runs on 12–58 V (10 A max) over USB 2.0 at 1 kHz, −20 to 60 °C, 175 × 88 × 77 mm, 710 g.
Dex3-1Development boardPrice$6,500.00aifitlab.com · preorder
Buy at aifitlab.com Overview
Motor essentials
Facts about the complete product. Unknown values remain open design questions.
A good fit for
Guidance to help you shortlist. The basis is shown for each recommendation.
No-load speed, rated performance and stall limits describe different operating points. A stall specification is not a continuous operating rating.
3D model & CAD
3D model & CAD files
Generated from the datasheet's dimensioned drawing and measured against it. Download the STEP to check fit in your own enclosure.
- Envelope (L × W × H)
- 175 × 88 × 77 mm
- Verification
- generated
- Envelope complete
- Yes
Grip & drive
Grip, drive and mounting
How wide it opens, what drives it and how it mounts.
- Effector type
- dexterous hand
- Degrees of freedom
- 7
- Payload
- 0.5 kg
- Drive
- F-1515 brushless force-control joints (6 direct, 1 geared)
- Actuator
- yes — 7 built-in joint motors
- Control
- USB 2.0 (1 kHz)
- Weight
- 710 g
| Connector | Type |
|---|---|
| usb | USB 2.0 communication; 12–58 V power |
Specifications
Motor performance
No-load, rated-load and stall figures retain their separate test conditions.
Stall torque and current are not continuous ratings. Check the duty cycle and starting load when choosing the driver and power supply.
Thermal limits by level
Product operating conditions, chip ambient ratings, package case limits and junction maxima remain separate.
Motor body
- Product operating range
- -20 to 60 °C
Mechanical dimensions
Reported product dimensions may exclude protruding components. Unknown height does not establish a complete clearance envelope.
- Length
- 175 mm
- Width
- 88 mm
- Reported height / thickness
- 77 mm
Attached generated geometry is an approximate envelope. A generated outline does not establish an electrically verified PCB footprint.
Board connectors
| ID / type | Pins | Pitch | Notes |
|---|---|---|---|
| usbUSB 2.0 communication; 12–58 V power | Unknown | Unknown | — |
Complete structured record
Every available field, including details beyond the summaries. Null means the value has not been established.
Sourcing & files
Supplier offers
US / USD is the target market. Observed price and stock are separate from a delivery quote.
aifitlab.com
US · USD
$6,500.00Minimum quantity unknown
- Observed stock
- preorder
- Checked
- Oct 18, 2026, 07:37 AM UTC
- Delivery estimate
- Not quoted
This observation is stale or has no verified check time. Recheck with the supplier.
Visit supplier (opens in a new tab)Delivery depends on quantity, postal code and shipping method. A dispatch statement such as “ship today” is not an arrival estimate.
Design files and references
Each source keeps its own verification status. Confirm the part revision and file contents before using it in a design.
Datasheet (opens in a new tab)
Manufacturer reference
Unitree Dex3-1 — product photo (opens in a new tab)
Unverified reference
inspected: Unitree render, black 3-finger hand (two fingers + thumb) on a palm base; matches the parameter graphic. Distributor-hosted maker render.
STEP (generated from datasheet drawing) — link unavailable
Generated asset
cad_check passed
Generated envelope geometry may also exist for this record. It does not replace manufacturer CAD or a verified electrical land pattern.
Source evidence
Document provenance, retrieval dates and the field groups supported by each source.
Supports: spec.constraints.thermal.operating_temp_max_c, spec.constraints.thermal.operating_temp_min_c, spec.geometry.cad.bbox.height_mm, spec.geometry.cad.bbox.length_mm, spec.geometry.cad.bbox.width_mm, spec.geometry.cad.envelope_complete, spec.geometry.cad.mesh_path, spec.geometry.cad.step_path, spec.geometry.cad.verification, spec.geometry.dimensions.height_mm, spec.geometry.dimensions.length_mm, spec.geometry.dimensions.width_mm, spec.geometry.other.weight_g, spec.provides.actuator_included, spec.provides.control_interface, spec.provides.dof, spec.provides.drive, spec.provides.effector_type, spec.provides.features, spec.provides.payload_kg, spec.usage.connectors, spec.usage.pinout_complete
sha256 8e43428ea4b5326ed373e2f0e81771801da65183b127d882227ee1be25b68d87
Supports: offers
FAQ
Unitree Dex3-1 Dexterous Hand questions
How much does the Unitree Dex3-1 Dexterous Hand cost?
From $6,500 at aifitlab.com. Prices are observed unit prices before tax and shipping.
What are the Unitree Dex3-1 Dexterous Hand dimensions?
175 × 88 × 77 mm. A STEP model is available for enclosure fit checks.
Where does this Unitree Dex3-1 Dexterous Hand data come from?
Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.
Sources
- Unitree Dex3-1 Dexterous Hand datasheet — Unitree Robotics
- aifitlab.com listing