# 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.

- Manufacturer: Unitree Robotics
- Part number: Dex3-1
- Category: Grippers & end effectors
- Canonical page: https://www.xirkit.io/products/unitree-dex3-1-dexterous-hand-ccd9
- Structured JSON: https://www.xirkit.io/products/unitree-dex3-1-dexterous-hand-ccd9/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| 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 |
| Dimensions | 175 × 88 × 77 mm |
| Operating temperature | -20 to 60 °C |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| aifitlab.com | 6,500 USD | preorder | 2026-10-18 | https://aifitlab.com/products/unitree-dex3-1-dexterous-hand?variant=50521841631368 |

## FAQ

**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](https://cdn.shopify.com/s/files/1/0673/6848/5000/files/Unitree-Dex3-1-Drawing.pdf)
- [aifitlab.com listing](https://aifitlab.com/products/unitree-dex3-1-dexterous-hand?variant=50521841631368)

## Part graph

### Alternatives (by use case)

- [Inspire Robots RH56DFX Dexterous Hand](https://www.xirkit.io/products/inspire-robots-rh56dfx-dexterous-hand-2db1) — Both serve grasping and manipulation — check the trade-offs; $6500 vs $4900
- [BrainCo Revo 2 Dexterous Hand](https://www.xirkit.io/products/brainco-revo-2-dexterous-hand-16a5) — Both serve grasping and manipulation — check the trade-offs; $5400 vs $6500