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Description
Unitree Robotics -- Official End-Effector
Unitree Dedicated Dex5-S Hand
Official dexterous hand for the Unitree humanoid robots R1, G1, H2. The Dex5-S Hand features an unprecedented 22 active degrees of freedom driven by 22 independent motors with direct and reverse drive capability, housed in a lightweight 620g aluminum alloy body. Each joint is equipped with a dual encoder for precise position feedback, while the thumb offers 5 DOF, the index/middle/ring fingers each provide 4 DOF, and the pinky delivers 5 DOF, including a unique ROLL degree of freedom. Supports a 1 kg single-hand load and 2kg maximum load with comprehensive perception feedback including position, velocity, torque, temperature, and voltage/current monitoring. Triple communication interfaces -- T1s Ethernet x2 (Gigabit), High-speed RS-485, and USB -- enable up to 1000Hz control frequency. This listing is for a single hand -- typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
22
Active DOF
22
Motors
1kg
Single Hand Load
620g
Weight
1kHz
Control Frequency
Product Overview
The Unitree Dedicated Dex5-S Hand is the official dexterous hand for the Unitree humanoid robot, representing a breakthrough in high-DOF manipulation technology. With an extraordinary 22 active degrees of freedom driven by 22 independent motors capable of both direct and reverse drive, the Dex5-S achieves human-level dexterity in a compact, lightweight package. The hand is constructed from aluminum alloy for structural rigidity at just 620g, with dimensions of 102 x 187 x 26 mm. Each motor features a dual encoder system for sub-degree positioning accuracy and closed-loop control. The unique finger architecture includes a 5-DOF thumb, 4-DOF index/middle/ring fingers, and a 5-DOF pinky with an added ROLL degree of freedom -- enabling complex in-hand manipulation, precision pinching, and adaptive power grasps. Triple high-speed communication interfaces (T1s Ethernet x2 at Gigabit speeds, High-speed RS-485, and USB) support control frequencies up to 1000Hz for real-time, responsive manipulation.
22 Active DOF -- 22 Motors
22 independent motors each drive one active degree of freedom with direct and reverse drive capability. Unprecedented joint-level control enables human-like dexterity and complex in-hand manipulation.
Dual Encoder Per Joint
Each of the 22 motors is equipped with a dual encoder system for redundant, high-resolution position feedback. Ensures precise trajectory tracking and reliable closed-loop control under load.
Advanced Finger Architecture
Thumb x 5 DOF; Index/Middle/Ring x 4 DOF each; Pinky x 5 DOF with unique ROLL degree of freedom. Enables thumb opposition, finger abduction/adduction, and pinky rotation for versatile grasping.
Triple Communication -- 1kHz
T1s Ethernet x2 (Gigabit), High-speed RS-485, and USB interfaces. Control frequency up to 1000Hz via T1s Ethernet/USB and 50Hz via RS-485 for real-time manipulation.
Comprehensive Perception Feedback
Real-time feedback on joint mode, position, velocity, torque, temperature, voltage, and current for all 22 joints. Enables advanced state estimation, fault detection, and adaptive control.
Aluminum Alloy Housing -- 620g
Precision-machined aluminum alloy housing at 620g with dimensions 102 x 187 x 26 mm. Delivers structural rigidity for 1kg single-hand and 2kg maximum load capacity.
22-DOF Joint Configuration
The Dex5-S Hand distributes 22 active degrees of freedom across 5 fingers with a unique architecture that maximizes manipulation dexterity:
Thumb
5 Active DOF
Five independent degrees of freedom enable full thumb opposition, flexion, extension, abduction, and adduction. Critical for precision pinch and power grasp with full palm contact.
Index Finger
4 Active DOF
Four independent joints provide flexion, extension, and lateral movement. Enables precision pointing, trigger-style manipulation, and fine tactile exploration.
Middle Finger
4 Active DOF
Four independent joints for coordinated multi-finger grasps and power gripping. Central finger position provides stability and force distribution during object manipulation.
Ring Finger
4 Active DOF
Four independent joints support power grasp envelope completion and lateral stabilization. Works in coordination with the pinky for secure wrapping of large objects.
Pinky
5 Active DOF + ROLL
Five degrees of freedom, including a unique ROLL degree of freedom. Enables pinky rotation and repositioning for adaptive grasping and in-hand manipulation of complex objects.
Motors
22 Direct/Reverse Drive
Each of the 22 joints is driven by an independent motor with direct and reverse drive capability. Enables bidirectional control and rapid direction changes for dynamic manipulation.
Perception Feedback & Control System
The Dex5-S Hand provides comprehensive real-time state feedback and flexible control commands for advanced manipulation research and applications:
Perception Feedback
Real-time data on joint mode, position, velocity, torque, temperature, voltage, and current for all 22 joints. Enables full state estimation, health monitoring, and predictive maintenance.
Control Commands
Command joint mode, position, velocity, torque, stiffness coefficient, and damping coefficient per joint. Supports impedance control, position control, and hybrid force/position control.
Dual Encoder System
Each motor features a dual encoder for redundant position sensing. Improves accuracy, enables fault tolerance, and provides high-resolution feedback for precision tasks.
No Touch Sensing
This variant does not include touch sensing. Force and contact estimation must be implemented through motor current feedback and model-based observers.
High-Speed Communication Interfaces
The Dex5-S Hand offers three communication options optimized for different bandwidth and latency requirements:
T1s Ethernet x2
Gigabit -- 1000Hz
Two T1s Ethernet ports under 1000BASE-T1 configuration deliver Gigabit speeds at 1000Hz control frequency. Ideal for real-time teleoperation and high-bandwidth control loops.
High-Speed RS-485
6Mbps -- 50Hz
High-speed RS-485 interface at 6Mbps baud rate and 50Hz control frequency. Robust, noise-resistant communication suitable for industrial and long-cable applications.
USB
1000Hz Control
USB interface supports 1000Hz control frequency for direct connection to host computers. Convenient for development, debugging, and desktop-based manipulation research.
Power
XT30 -- 15-65V
XT30 power connector with 15-65V operating range and 200W peak power. Wide voltage acceptance ensures compatibility with various robot power buses and operational modes.
What's Included (Per Hand)
Each Dex5-S Hand package contains the following components for a single dexterous hand:
Hand
Dex5-S Hand Unit
Complete dexterous hand assembly with 22 motors, 22 active DOF, dual encoders, and aluminum alloy housing.
Cables
Power & Data Cables
XT30 power cable (15-65V) and data cables for T1s Ethernet x2, RS-485, and USB communication interfaces.
Interface
Robot Dev Interface
Full robot development interface documentation, API reference, and protocol specifications for all 22 joints.
Docs
Manual & Quick-Start
User manual, quick-start guide for hand setup and calibration, and control command reference for position, velocity, torque, stiffness, and damping modes.
Important Notes
- This hand does not include touch sensing. Contact detection and force estimation must be implemented through motor current feedback and model-based observers.
- Operating voltage: 15-65V DC. Peak power: 200W. Ensure the robot power bus can supply sufficient current during peak load conditions.
- This is the price and information for a single hand. Typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation. Please specify left or right hand when ordering.
- Communication baud rate: 6Mbps. Control frequency: 1000Hz (T1s Ethernet/USB), 50Hz (RS-485). Select the appropriate interface based on your application latency requirements.
- All 22 motors feature dual encoders. Encoder calibration is required after installation and periodically during maintenance.
- Secondary development requires advanced programming knowledge and familiarity with robotics control concepts, real-time communication protocols, and multi-DOF kinematics.
Technical Specifications
| Parameter | Unitree Dex5-S Hand |
| Product Name | Dex5-S Hand |
| Compatible Robot | Unitree R1, G1, H2 humanoid robots |
| Weight | 1.36 lb (620 g) |
| Housing Material | Aluminum Alloy |
| Dimensions | 4" x 7.4" x 1" (102 x 187 x 26 mm) |
| Active Degrees of Freedom | 22 (22 total) |
| Thumb DOF | 5 |
| Index Finger DOF | 4 |
| Middle Finger DOF | 4 |
| Ring Finger DOF | 4 |
| Pinky DOF | 5 (includes added Pinky ROLL DoF) |
| Transmission Structure | 22 motors capable of direct and reverse drive |
| Single Hand Load | 1 kg |
| Maximum Load | 2 kg |
| Encoder | Dual Encoder (per motor) |
| Operating Voltage | 15 - 65 V DC |
| Power Interface | XT30 |
| Peak Power | 200 W |
| Gigabit Ethernet Port | Yes (under 1000BASE-T1 Ethernet configuration) |
| Communication Interface | T1s Ethernet x 2 (Gigabit ports), High-speed 485 x 1, USB x 1 |
| Communication Baud Rate | 6 Mbps |
| Control Frequency | T1s Ethernet/USB: 1000 Hz; High-speed 485: 50 Hz |
| Touch Sensing | None |
| Perception Feedback | Joint Mode, Position, Velocity, Torque, Temperature, Voltage/Current |
| Control Commands | Joint Mode, Position, Velocity, Torque, Stiffness Coefficient, Damping Coefficient |
| Package Quantity | Single hand per package |
| Typical Robot Configuration | Two hands per humanoid robot (dual-arm) |
| Warranty | 12-month whole machine warranty |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* This hand does not include touch sensing. Contact detection must be implemented through motor current feedback.
* Operating voltage: 15-65V DC. Peak power: 200W. Ensure adequate power supply capacity.
* This package includes one dexterous hand. For dual-arm manipulation, order two units and specify left or right configuration.
* All 22 motors feature dual encoders. Encoder calibration is required after installation.
* Communication baud rate: 6Mbps. Control frequency: 1000Hz (T1s Ethernet/USB), 50Hz (RS-485).
* Secondary development requires advanced programming skills and familiarity with multi-DOF robotics control.
* Unitree is a registered trademark of Unitree Robotics.
Description
Unitree Robotics -- Official End-Effector
Unitree Dedicated Dex5-S Hand
Official dexterous hand for the Unitree humanoid robots R1, G1, H2. The Dex5-S Hand features an unprecedented 22 active degrees of freedom driven by 22 independent motors with direct and reverse drive capability, housed in a lightweight 620g aluminum alloy body. Each joint is equipped with a dual encoder for precise position feedback, while the thumb offers 5 DOF, the index/middle/ring fingers each provide 4 DOF, and the pinky delivers 5 DOF, including a unique ROLL degree of freedom. Supports a 1 kg single-hand load and 2kg maximum load with comprehensive perception feedback including position, velocity, torque, temperature, and voltage/current monitoring. Triple communication interfaces -- T1s Ethernet x2 (Gigabit), High-speed RS-485, and USB -- enable up to 1000Hz control frequency. This listing is for a single hand -- typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
22
Active DOF
22
Motors
1kg
Single Hand Load
620g
Weight
1kHz
Control Frequency
Product Overview
The Unitree Dedicated Dex5-S Hand is the official dexterous hand for the Unitree humanoid robot, representing a breakthrough in high-DOF manipulation technology. With an extraordinary 22 active degrees of freedom driven by 22 independent motors capable of both direct and reverse drive, the Dex5-S achieves human-level dexterity in a compact, lightweight package. The hand is constructed from aluminum alloy for structural rigidity at just 620g, with dimensions of 102 x 187 x 26 mm. Each motor features a dual encoder system for sub-degree positioning accuracy and closed-loop control. The unique finger architecture includes a 5-DOF thumb, 4-DOF index/middle/ring fingers, and a 5-DOF pinky with an added ROLL degree of freedom -- enabling complex in-hand manipulation, precision pinching, and adaptive power grasps. Triple high-speed communication interfaces (T1s Ethernet x2 at Gigabit speeds, High-speed RS-485, and USB) support control frequencies up to 1000Hz for real-time, responsive manipulation.
22 Active DOF -- 22 Motors
22 independent motors each drive one active degree of freedom with direct and reverse drive capability. Unprecedented joint-level control enables human-like dexterity and complex in-hand manipulation.
Dual Encoder Per Joint
Each of the 22 motors is equipped with a dual encoder system for redundant, high-resolution position feedback. Ensures precise trajectory tracking and reliable closed-loop control under load.
Advanced Finger Architecture
Thumb x 5 DOF; Index/Middle/Ring x 4 DOF each; Pinky x 5 DOF with unique ROLL degree of freedom. Enables thumb opposition, finger abduction/adduction, and pinky rotation for versatile grasping.
Triple Communication -- 1kHz
T1s Ethernet x2 (Gigabit), High-speed RS-485, and USB interfaces. Control frequency up to 1000Hz via T1s Ethernet/USB and 50Hz via RS-485 for real-time manipulation.
Comprehensive Perception Feedback
Real-time feedback on joint mode, position, velocity, torque, temperature, voltage, and current for all 22 joints. Enables advanced state estimation, fault detection, and adaptive control.
Aluminum Alloy Housing -- 620g
Precision-machined aluminum alloy housing at 620g with dimensions 102 x 187 x 26 mm. Delivers structural rigidity for 1kg single-hand and 2kg maximum load capacity.
22-DOF Joint Configuration
The Dex5-S Hand distributes 22 active degrees of freedom across 5 fingers with a unique architecture that maximizes manipulation dexterity:
Thumb
5 Active DOF
Five independent degrees of freedom enable full thumb opposition, flexion, extension, abduction, and adduction. Critical for precision pinch and power grasp with full palm contact.
Index Finger
4 Active DOF
Four independent joints provide flexion, extension, and lateral movement. Enables precision pointing, trigger-style manipulation, and fine tactile exploration.
Middle Finger
4 Active DOF
Four independent joints for coordinated multi-finger grasps and power gripping. Central finger position provides stability and force distribution during object manipulation.
Ring Finger
4 Active DOF
Four independent joints support power grasp envelope completion and lateral stabilization. Works in coordination with the pinky for secure wrapping of large objects.
Pinky
5 Active DOF + ROLL
Five degrees of freedom, including a unique ROLL degree of freedom. Enables pinky rotation and repositioning for adaptive grasping and in-hand manipulation of complex objects.
Motors
22 Direct/Reverse Drive
Each of the 22 joints is driven by an independent motor with direct and reverse drive capability. Enables bidirectional control and rapid direction changes for dynamic manipulation.
Perception Feedback & Control System
The Dex5-S Hand provides comprehensive real-time state feedback and flexible control commands for advanced manipulation research and applications:
Perception Feedback
Real-time data on joint mode, position, velocity, torque, temperature, voltage, and current for all 22 joints. Enables full state estimation, health monitoring, and predictive maintenance.
Control Commands
Command joint mode, position, velocity, torque, stiffness coefficient, and damping coefficient per joint. Supports impedance control, position control, and hybrid force/position control.
Dual Encoder System
Each motor features a dual encoder for redundant position sensing. Improves accuracy, enables fault tolerance, and provides high-resolution feedback for precision tasks.
No Touch Sensing
This variant does not include touch sensing. Force and contact estimation must be implemented through motor current feedback and model-based observers.
High-Speed Communication Interfaces
The Dex5-S Hand offers three communication options optimized for different bandwidth and latency requirements:
T1s Ethernet x2
Gigabit -- 1000Hz
Two T1s Ethernet ports under 1000BASE-T1 configuration deliver Gigabit speeds at 1000Hz control frequency. Ideal for real-time teleoperation and high-bandwidth control loops.
High-Speed RS-485
6Mbps -- 50Hz
High-speed RS-485 interface at 6Mbps baud rate and 50Hz control frequency. Robust, noise-resistant communication suitable for industrial and long-cable applications.
USB
1000Hz Control
USB interface supports 1000Hz control frequency for direct connection to host computers. Convenient for development, debugging, and desktop-based manipulation research.
Power
XT30 -- 15-65V
XT30 power connector with 15-65V operating range and 200W peak power. Wide voltage acceptance ensures compatibility with various robot power buses and operational modes.
What's Included (Per Hand)
Each Dex5-S Hand package contains the following components for a single dexterous hand:
Hand
Dex5-S Hand Unit
Complete dexterous hand assembly with 22 motors, 22 active DOF, dual encoders, and aluminum alloy housing.
Cables
Power & Data Cables
XT30 power cable (15-65V) and data cables for T1s Ethernet x2, RS-485, and USB communication interfaces.
Interface
Robot Dev Interface
Full robot development interface documentation, API reference, and protocol specifications for all 22 joints.
Docs
Manual & Quick-Start
User manual, quick-start guide for hand setup and calibration, and control command reference for position, velocity, torque, stiffness, and damping modes.
Important Notes
- This hand does not include touch sensing. Contact detection and force estimation must be implemented through motor current feedback and model-based observers.
- Operating voltage: 15-65V DC. Peak power: 200W. Ensure the robot power bus can supply sufficient current during peak load conditions.
- This is the price and information for a single hand. Typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation. Please specify left or right hand when ordering.
- Communication baud rate: 6Mbps. Control frequency: 1000Hz (T1s Ethernet/USB), 50Hz (RS-485). Select the appropriate interface based on your application latency requirements.
- All 22 motors feature dual encoders. Encoder calibration is required after installation and periodically during maintenance.
- Secondary development requires advanced programming knowledge and familiarity with robotics control concepts, real-time communication protocols, and multi-DOF kinematics.
Technical Specifications
| Parameter | Unitree Dex5-S Hand |
| Product Name | Dex5-S Hand |
| Compatible Robot | Unitree R1, G1, H2 humanoid robots |
| Weight | 1.36 lb (620 g) |
| Housing Material | Aluminum Alloy |
| Dimensions | 4" x 7.4" x 1" (102 x 187 x 26 mm) |
| Active Degrees of Freedom | 22 (22 total) |
| Thumb DOF | 5 |
| Index Finger DOF | 4 |
| Middle Finger DOF | 4 |
| Ring Finger DOF | 4 |
| Pinky DOF | 5 (includes added Pinky ROLL DoF) |
| Transmission Structure | 22 motors capable of direct and reverse drive |
| Single Hand Load | 1 kg |
| Maximum Load | 2 kg |
| Encoder | Dual Encoder (per motor) |
| Operating Voltage | 15 - 65 V DC |
| Power Interface | XT30 |
| Peak Power | 200 W |
| Gigabit Ethernet Port | Yes (under 1000BASE-T1 Ethernet configuration) |
| Communication Interface | T1s Ethernet x 2 (Gigabit ports), High-speed 485 x 1, USB x 1 |
| Communication Baud Rate | 6 Mbps |
| Control Frequency | T1s Ethernet/USB: 1000 Hz; High-speed 485: 50 Hz |
| Touch Sensing | None |
| Perception Feedback | Joint Mode, Position, Velocity, Torque, Temperature, Voltage/Current |
| Control Commands | Joint Mode, Position, Velocity, Torque, Stiffness Coefficient, Damping Coefficient |
| Package Quantity | Single hand per package |
| Typical Robot Configuration | Two hands per humanoid robot (dual-arm) |
| Warranty | 12-month whole machine warranty |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* This hand does not include touch sensing. Contact detection must be implemented through motor current feedback.
* Operating voltage: 15-65V DC. Peak power: 200W. Ensure adequate power supply capacity.
* This package includes one dexterous hand. For dual-arm manipulation, order two units and specify left or right configuration.
* All 22 motors feature dual encoders. Encoder calibration is required after installation.
* Communication baud rate: 6Mbps. Control frequency: 1000Hz (T1s Ethernet/USB), 50Hz (RS-485).
* Secondary development requires advanced programming skills and familiarity with multi-DOF robotics control.
* Unitree is a registered trademark of Unitree Robotics.
Unitree
by
Unitree
Unitree Dex5-S Five Finger Hand
SKU:
R1-DEX5-S
- Regular price
- $9,600.00
- Sale price
- $9,600.00
- Regular price
-
- Unit price
- per
Shipping calculated at checkout.
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
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