Smart Adaptability

Instant Responsiveness

Dex5-S Dex2/5

Dex5-1 Dex3-1 Dex1-1

Dex5-S

Compact & Precise1:1 Human Hand Scale

22 DoF per hand. Effortless dexterity, at your command

Coming closer than ever to true human hand size,

the Dex5-S takes on far more complex, intricate tasks than the bulky dexterous hands of the past.

22 DOF

Greater dexterity and more degrees of

freedom deliver more comfortable,

more stable grip angles.

Actuation

All 22 motors are direct-drive and backdrivable with

dual encoders, plus a new roll axis on the pinky.

These features dramatically elevate whole-hand grip

dexterity.

Bending

Endurance Test

Ultra-long bending life. Stable and reliable.

Ultimate Impact Protection

When a joint motor of the dexterous hand

takes an extreme external impact,

the impact protection structure shields the

gears from damage. All 22 DoF are protected.

Power

The best training is training uninterrupted by

overtemperature alarms. The Dex5-S handles

up to 2 kg payload per hand, and 1 kg

continuous working payload.

Three Interface Options

Supports a wide 15–65 V input range.

Pick your connection: Gigabit Ethernet, USB,

or high-speed RS-485. With the Gigabit

Ethernet configuration, the palm camera

plugs straight into the hand, no more

external cabling.

Precision

Built on precision micro gearboxes.

[1] As2 is subject to body size limitations and supports single-arm mounting only.

[2] A2 is subject to body size and power limitations. High-speed movements are not permitted with two robotic arms mounted. Please pay close attention to safety during operation.

[3] This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner.

[4] Please visit Unitree Robotics Website for more related terms and policies, and comply with local laws and regulations.

Basic Parameters Electrical Characteristics

Model

Degrees of Freedom

Thumb DoF

Index / Middle / Ring Finger DoF

Pinky DoF

Ultimate Impact Protection

Per-hand Payload (continuous)

Dimensions (L × W × H)

Weight

Housing Material

Peak Payload

Encoder

Tactile Sensing

Supply Voltage

Power Connector

Peak Power

Gigabit Ethernet

Communication Protocol

Baud Rate

Control Loop Rate

Sensing & Feedback

Control Commands

Dex5-S Pro

22

5

4

5

All 22 DoF

1kg

102*187*26mm

620g

Aluminum alloy

2kg

Dual encoder

YES

15V~65V

XT30

200W

Yes (1000BASE-T1 configuration)

T1s Ethernet ×2, High-speed RS-485 ×1, USB ×1

6Mbps

T1s Ethernet/USB: 1000 Hz;

High-speed RS-485: 50 Hz;

Joint mode, position, velocity, torque,

temperature, voltage & current

Joint mode, position, velocity,

torque, stiffness, damping

Dex5-S

22

5

4

5

All 22 DoF

1kg

102*187*26mm

620g

Aluminum alloy

2kg

Dual encoder

/

15V~65V

XT30

200W

Yes (1000BASE-T1 configuration)

T1s Ethernet ×2, High-speed RS-485 ×1, USB ×1

6Mbps

T1s Ethernet/USB: 1000 Hz;

High-speed RS-485: 50 Hz;

Joint mode, position, velocity, torque,

temperature, voltage & current

Joint mode, position, velocity,

torque, stiffness, damping

PARAMETER

Dex2/5

Rugged impact resistance, impervious to knocks and bumps

Completed over 100 drop tests

Superior robust design ensures the dexterous hand is no longer fragile

Hidden internal wiring

Compatible with G1/R1 models

Let the \"meridians\" run beneath the \"skin\"

PARAMETER

Weight

Size

Degrees of Freedom

Transmission Mechanism

Angle of Joint

Min fist clench time

Min grip diameter

Fingertip strength

Working Voltage

Static Current

Max Current

Communication Interface

Working Temperature Range

Load Conditions

Load Conditions

Communication Rate

Perceptual Feedback

Control Feedback

365g

151mm x 70mm x 63mm

Thumb×1 Index Finger、Middle Finger、Ring Finger、Little Finger：share one DOF

Gear-tendon rope drive

0.5 s

8mm

Thumb：15N Index finger, middle finger, ring finger, little finger: total 15N

24V-60V

58V@0.1A

58V@1.5A

RS485

-20℃ ~ 60℃

The Max Weight is 1.5kg ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object)

The Max Weight is 1.5kg (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object)

1000Hz

Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current

Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient

Thumb Joint 0：0°~42°

Thumb Joint 1：0°~105°

Four-Finger Joint0：0°~88°

Four-Finger Joint1：0°~105°

[ 1 ]

[1]It is the size of the dexterous hand in flat state.

[2]All parameters listed above may vary in different application scenarios or with different model configurations. Please refer to your specific use case.

[3]The product appearance is subject to change. Please refer to the final product.

[4]This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner.

70mm

151mm

Total length

151mm

Perfectly sized to match

your robot

Weighs only

365 g

Easing payload pressure

on robotic arms

Parameters Function Software

Dex5-1 Ultra-fast Reflexes,

Snake-like Flexibility

Number of degrees

of freedom

20 5 pieces

Precise Feedback,

Control Every Millimeter

94 tactile sensors per hand;

supports secondary development of

tactile algorithms for dexterous hands

High-power density

hollow-cup motor

High-power density drive

and high-precision encoder

Low damping small

clearance reducer

Micro-gap design ensures

smooth and effortless motion

Four-finger Lateral Swing

Improved grip reliability and adapts more effectively to

curved surfaces of grasped objects.

±22°

±22°

All five fingers can be

replaced independently

The rotation axis of joint is closer to the surface,

with ultra-small joint gaps.This enables a smoother

and more fluid grasp, preventing joint corners from

getting stuck on objects.

PARAMETER

※The final shipped version may vary.

Weight

Size

Degrees of Freedom

Four-Finger Lateral Swing

Min grip diameter

Fingertip Repeat Positioning Accuracy

Fingertip strength

Working Voltage

Static Current

Max Current

Communication Interface

Working Temperature Range

Load Conditions

Load Conditions

Communication Rate

The number of bytes in a full packet

Control Feedback

Number of Pressure Sensors

Range of Perception

Max Acceptance (Unamaged)

Model Dex5-1 Dex5-1P

About 1100g

217.3mm x 127.5mm x 72.1mm

Thumb x 4, Index Finger x 3, Middle Finger x 3, Ring Finger x 3, Little Finger x 3

±22°

10mm

±1mm

10N

24V~60V

58V@0.2A

58V@4A

USB2.0

-20℃ ~ 60℃

The Max Weight is 3.5kg ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object)

The Max Weight is 4.5kg (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object)

1000Hz

Sender：1234 bytes Receiver：1270 bytes

Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient

2 x 5 (Palm)、 2 x 3 (Single Finger Pad) x 5、

2 x 3 (Single Fingertip) x 5、 2 x 3 (Single Finger Root) x 4

Thumb Joint: Thumb Joint 0: -33.5°~39° Thumb Joint 1: 0°~100° Thumb Joint 2: 0°~110° Thumb Joint 3: 0°~92°

Four-Finger Joints: Knuckles 0: -22°~22° Knuckles 1: 0°~90° Knuckles 2: 0°~95° Knuckles 3: 0°~81°(Coupling with finger joint 2)

[ 2 ]

[ 1 ]

12 (94 pressure sensors in total)

10g-2500g

20kg

Joint Mode, Joint Position, Joint Velocity, Joint Torque,

Joint Temperature, Voltage and Current, Sensor Pressure Value,

Sensor Temperature Value, imu Data

Joint Mode, Joint Position, Joint Velocity, Joint Torque,

Joint Temperature, Voltage and Current, imu Data

12 self-developed micro force-controlled composite transmission joints

(enables robot to achieve tactile proprioception) 4 micro force-controlled joint gear transmission

/

/

/

/

[1] It is the size of the dexterous hand in flat state.

[2] The data refers to the pressure exerted by the dexterous hand when it is pressed by a vertical downward cylinder with a diameter of 1cm, which varies in different application scenarios.

Please refer to the actual situation.

[3] The above parameters may vary in different scenarios and configurations, please subject to actual situation.

[4] The product appearance is subject to change. Please refer to the final product.

[5] This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner.

Perceptual Feedback

Array resolution

Angle of Joint

Transmission Mechanism

217.3mm

72.1mm

127.5mm

Dex3-1

Power Control Dexterous Hand, Operate Everything

Bionic Structure

Design

Multi-Degree of

Freedom Mobility

High Precision and

Detailed Perception

9 array sensors in one hand, 33 tactile sensing

units, real-time perception of environmental

changes.

7 degrees of freedom flexible movement, to

achieve a variety of fine operations.

Three-finger multi-joint bionic dexterous hand,

excellent balance of practicality and cost.

0°~+100°

-35°~+60°

-60°~+60°

0°~+90°

0°~+100°

54.58

61.80

48.34 42.54

42.54 Unit：mm

PARAMETER

[ 1 ]

[ 2 ]

[1]It is the size of the dexterous hand in flat state.

[2]The data refers to the pressure exerted by the dexterous hand when it is pressed by a vertical downward cylinder with a diameter of 1cm, which varies in different application scenarios. Please refer to the actual situation.

[3]This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner.

Weight

Size

Degrees of Freedom

Degrees of Freedom

Angle of Joint

Fingertip Repeat Positioning Accuracy

Working Voltage

Static Current

Maximum Current

Communication Interface

Working Temperature Range

Load Conditions

Load Conditions

Number of Pressure Sensors

Array Resolution

Range of Perception

Max Acceptance (Unamaged)

Communication Rate

The number of bytes

in a full packet

Perceptual Feedback

Control Feedback

Model

Weight

Size

Reduction Ratio

Max Torque (Ideal)

Max Torque (Actual)

Max Rotational Speed

Max Line Current

Communication Control

Frequency

Method of Communication

Encoder

Working Temperature Range

IP Rating

Working Voltage

Motor Preceived Feedback

Motor Control Instruction

710g

175mm x 88mm x 77mm

Thumb x 3 Index Finger x 2 Middle Finger x 2

6 Motors Drive Directly 1 Motor Drive with Gears

±2mm

12~58V

58V @ 0.2A

10A

USB2.0

-20℃ ~ 60℃

9 (Total of 33 Pressure Sensors)

2 x 2 (Palm) x 3 2 x 2 (Single Finger Pad) x 3 3 x 1 (Single Fingertip) x 3

10g-2500g

20kg

1000Hz

Sender：1234 bytes Receiver：1270 bytes

Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature,

Voltage and Current, Sensor Pressure Value, Sensor Temperature Value, imu Data

Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient

45g

34.8mm x 23.1mm x 23.3mm

4.76A

1000Hz

High Speed Unibus

Rotor Absolute Value Encoder

-20℃ ~ 60℃

/

12-24V

Torque, Angle, Angular Velocity, Temperature

Torque, Angle, Angular Velocity, Stiffness, Damping

F-1515-108 Miniature Brushless Force Control Joint

1：108

0.76Nm

The Torque Is In The Same Direction As The Speed：0.49Nm

The Toque Is In The Opposite Direction of The Rotational Speed：1.37Nm

23rad/s

F-1515-214 Miniature Brushless Force Control joint

1：214

1.498Nm

The Torque Is In The Same Direction As The Speed：0.86Nm

The Toque Is In The Opposite Direction of The Rotational Speed：3.1 Nm

11rad/s

The Max Weight is 500g ( Palm Facing Down At Room Temperature,

Grasping A 5cm Round Hard Object)

The Max Weight is 500g (Palm Facing Left At Room Temperature,

Grasping A 5cm Round Hard Object)

The Max Power Is: 400W@3s

The Max Power Is: 400W@3s

Thumb Joint 0: -60°~60° Thumb Joint 1: -35°~60° The Thumb Joint 2: 0 to 100°

Index Finger Joint 0: 0 °~90° Index Finger Joint 1: 0 °~100°

Middle Finger Joint 0: 0 °~90° Middle Finger Joint 1: 0 °~100°

Body Parameters Sensing Parameters Functions Software Miniature Brushless Force Control Joint Parameters

Dex1-1

Professional and refined

Features

Designed specifically for embodied AI applications

Dex1-1 Gripper - Standard Version Dex1-1 Gripper - Advanced Version

1080P FPS: 30/60

FOV: H:118° V:87° D:140°

PARAMETER Gripper Parameters Motor Parameters

Model

Dimensions

Weight

Stroke

Gripping Force (Adjustable)

Speed (Adjustable)

Position Resolution (Fingertip)

Grasp Load (Form-fitting)

Grasp Load (Friction)

Full-stroke Shortest Closing Time

Jaw Length

Communication Protocol

Communication Baud Rate

Communication Control Frequency

Operating Voltage

Static Current

Peak Line Current

Motor Peak Torque

Motor Maximum Speed

Recommended Operating Environment

Motor Reduction Ratio

Motor Encoder Resolution

Motor Encoder Type

Motor Status Feedback

Motor Control Instruction

Dex1-1

143mm x 78mm x 67mm [1]

550g

90mm

5~120N [2]

50~375 mm/s [2]

0.1mm

20kg [3]

5kg [4]

0.24s [2]

80mm

High-speed 485

6Mbps

1000Hz

24V~64V (24/48VDC recommended)

0.03A

3.5A

5N.m

27rad/s (with 64V power supply)

-20℃ ~ 60℃

1:25

15bit

Absolute encoder

Angle, Angular Velocity, Torque, Temperature

Angle, Angular Velocity, Torque, Stiffness, Damping

[1]The gripper's width is 78mm when half-open. Its width is 120mm when fully open and 124.5mm when fully closed (with the side rails extended).

[2]The listed values for speed, gripping force, and full-stroke closing time are measured under varying conditions (24V-60V) by adjusting motor sti�ness, damping, and torque.

These values may vary depending on the application; please refer to your specific use case.

[3]Grasp Load (Form-fitting) refers to the maximum horizontal load the gripper can hold without losing its grip. This value may vary depending on the application; please refer to your specific use case.

[4]Grasp Load (Friction) refers to the maximum vertical load the gripper can hold without slipping, as measured with a square steel block. This value may vary depending on the application; please refer to your specific use case.

[5]All parameters listed above may vary in di�erent application scenarios or with di�erent model configurations. Please refer to your specific use case.

[6]The product appearance is subject to change. Please refer to the final product.

[7]This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner.

Logistics & Warehousing

Integrated with G1/R1/H2 series, the dexterous hand delivers

powerful gripping force to steadily handle cartons, plastic bins,

and other materials. It efficiently carries out sorting and

transfer tasks, boosting automation efficiency in warehouse

operations.

Industrial Manufacturing

Featuring high rigidity and precision gripping, the dexterous

hand is well-suited for demanding processes such as precision

pick-and-place and assembly. With reliable anti-interference

performance, it enhances production line precision and

operational efficiency.

Home Service

Biomimetic, flexible manipulation allows the dexterous hand to

effortlessly perform fine tasks including dish cleaning, tabletop

organization, and household tidying, creating a convenient and

comfortable home service experience.

Commercial Service

Through flexible force control and adaptive gripping, the

dexterous hand can gently handle fragile merchandise,

efficiently carrying out sorting and restocking tasks. This

enhances both service efficiency and technological image in

retail settings.

Medical Service

With multi-degree-of-freedom fingertip agility and

millimeter-level positioning accuracy, the dexterous hand

enables smooth grasping and seamless delivery of medical

instruments and pharmaceuticals. This improves the efficiency

of assisted care while offering patients a more personalized

and attentive experience.

Web：www.unitree.com

Tel：+86 176 2178 1139

Email：sales_global@unitree.com

Follow us@Unitree Robotics

Please visit Unitree Robotics Website for more related terms and policies,

and comply with local laws and regulations.