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Description
Unitree Robotics — Official End-Effector
Unitree R1 Dedicated Dex3-1 Force-Controlled Three-Finger Dexterous Hand (Includes RGB Camera)
Advanced three-finger dexterous hand for the Unitree R1 humanoid robot. Features 7 degrees of freedom per hand (3 for thumb, 2 for index, 2 for middle finger), force-controlled grasping, integrated RGB camera (FOV 160) with dedicated mount, and a bonus D405 camera mount. Weighs only 650 g with compact dimensions of 175 × 88 × 77 mm. This listing is for a single dexterous hand — specify left or right hand when ordering. Typically, two hands are selected per humanoid robot.
650g
Weight
7 DOF
Per Hand
3-Finger
Dexterous
RGB
Camera FOV 160
Force
Controlled
Product Overview
The Unitree R1 Dedicated Dex3-1 Force-Controlled Three-Finger Dexterous Hand is a state-of-the-art end-effector designed for the Unitree R1 humanoid robot platform. Weighing just 650 g with compact dimensions of 175 × 88 × 77 mm, this three-finger hand delivers human-like dexterity in a lightweight, power-efficient package. Each hand features 7 degrees of freedom — 3 for the thumb, 2 for the index finger, and 2 for the middle finger — enabling complex in-hand manipulation, precision pinching, and adaptive power grasping. The integrated force control system provides tactile feedback, allowing the hand to automatically adjust grip force based on object properties and task requirements. An onboard RGB camera with 160° FOV and dedicated mount provides color visual feedback directly at the hand for object recognition and visual servoing. As a bonus, a D405 camera mount (compatible with the three-finger hand) is included for customers who wish to add depth sensing. This listing is for a single dexterous hand — please specify left or right hand when ordering. Typically, two dexterous hands are selected per humanoid robot for full bimanual manipulation.
7 Degrees of Freedom
3 DOF for thumb, 2 DOF for index finger, 2 DOF for middle finger. Enables human-like dexterity including opposition, precision pinch, tripod grasp, and in-hand manipulation.
Force-Controlled Grasping
Integrated force control system provides tactile feedback and automatic grip force modulation. Grasp fragile objects gently and heavy objects securely without crushing or dropping.
Lightweight & Compact
Only 650 g with dimensions of 175 × 88 × 77 mm. Minimizes arm payload and inertia for fast, dynamic manipulation without compromising on dexterity or strength.
RGB Camera (FOV 160)
Built-in RGB camera with 160° field of view and dedicated mount. Provides color visual feedback at the hand for object recognition, visual servoing, and grasp verification.
Bonus D405 Camera Mount
Includes a bonus D405 camera mount compatible with the three-finger hand (Intel RealSense D405 depth camera not included). Add optional depth sensing for 3D grasp planning.
Left / Right Hand Selection
This listing is for a single dexterous hand. Please specify left or right hand when ordering. Typically, two hands are selected per humanoid robot for bimanual manipulation.
7-DOF Dexterity Breakdown
The Dex3-1 hand achieves remarkable dexterity through careful distribution of 7 independent degrees of freedom across three fingers, mimicking the essential kinematic structure of a human hand:
Thumb
3 DOF
Truly opposable thumb with 3 independent joints enables precision pinch, lateral pinch, and palmar opposition — the foundation of human grasping.
Index Finger
2 DOF
Two independent joints provide curling and extension for precision pointing, hook grasp, and index-thumb pinch for small object manipulation.
Middle Finger
2 DOF
Two independent joints work with index and thumb to form tripod grasps, power grasps, and adaptive enveloping grasps for objects of varying size.
Total
7 DOF per Hand
Optimized kinematic structure balancing dexterity, weight, and control complexity. Sufficient for most human-like manipulation tasks.
Force-Controlled Grasping
The Dex3-1 hand goes beyond simple position control by implementing a sophisticated force control system that measures and modulates grip force in real time. This enables the hand to interact safely and effectively with objects of unknown or varying properties:
Tactile Force Feedback
Integrated force sensors measure contact forces at the fingertips and palm. The control system uses this feedback to maintain optimal grip force without slipping or crushing.
Adaptive Grasping
Automatically adjusts grip force based on object weight, surface friction, and task requirements. Grasp a paper cup and a hammer with appropriate force for each.
Slip Detection
Real-time slip detection algorithms increase grip force when incipient slip is detected, preventing dropped objects without excessive pre-load force.
Compliant Manipulation
Force-controlled interaction enables safe manipulation of fragile, deformable, or human-held objects. Essential for collaborative and service robotics scenarios.
Integrated Vision System
The Dex3-1 hand incorporates a comprehensive vision system that provides both color feedback and optional depth expansion:
RGB
RGB Camera FOV 160
Built-in wide-angle RGB camera provides color visual feedback at the hand for object recognition, visual servoing, and grasp quality assessment.
Mount
RGB Camera Mount
Dedicated precision mount positions the RGB camera for optimal field of view with minimal occlusion during finger movement and grasping.
Bonus
D405 Camera Mount
Bonus D405 mounting bracket included (D405 depth camera not included). Add Intel RealSense D405 for depth-based 3D grasp planning and visual servoing.
Cables
Power & Data Cables
All necessary cables and accessories included for plug-and-play installation. Pre-terminated for clean integration with the R1 arm wiring harness.
Important Notes
- This package includes an integrated RGB Camera (FOV 160) with dedicated mount and a bonus D405 Camera Mount. The Intel RealSense D405 Depth Camera itself is not included.
- This price and information apply to a single dexterous hand. Typically, two dexterous hands are selected per humanoid robot. Please specify left or right hand when ordering.
- The D405 Camera Mount is compatible with the three-finger hand configuration. Customers can independently mount various cameras onto it if desired.
- Force control performance depends on calibration, object properties, and control algorithm tuning.
Technical Specifications
| Parameter | Unitree R1 Dex3-1 Three-Finger Dexterous Hand |
| Product Name | R1 Dedicated Dex3-1 Force-Controlled Three-Finger Dexterous Hand (Includes RGB Camera) |
| Weight | 650 g |
| Dimensions | 175 mm × 88 mm × 77 mm |
| Single-Hand Degrees of Freedom | 7 (3 for thumb, 2 for index finger, 2 for middle finger) |
| RGB Camera | RGB Camera (FOV 160) x1 — integrated |
| RGB Camera Mount | RGB Camera Dedicated Mount x1 |
| Cables & Accessories | Power cables, data cables, and installation accessories included |
| Bonus D405 Camera Mount | D405 Camera Mount x1 (compatible with three-finger hand). D405 depth camera not included |
| Grasp Control | Force-controlled grasping with tactile feedback |
| Compatible Robot | Unitree R1 humanoid robot |
| Package Quantity | Single dexterous hand per package |
| Typical Robot Configuration | Two dexterous hands per humanoid robot (specify left or right when ordering) |
| Warranty | 12 months |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* The Intel RealSense D405 Depth Camera is not included with this package. The bonus D405 Camera Mount is provided for customers who wish to add their own camera.
* This package includes one dexterous hand. Please specify left or right hand when ordering. For dual-arm manipulation, order two units (one left, one right).
* Force control performance depends on calibration, object properties, and environmental conditions.
* Unitree is a registered trademark of Unitree Robotics.
Description
Unitree Robotics — Official End-Effector
Unitree R1 Dedicated Dex3-1 Force-Controlled Three-Finger Dexterous Hand (Includes RGB Camera)
Advanced three-finger dexterous hand for the Unitree R1 humanoid robot. Features 7 degrees of freedom per hand (3 for thumb, 2 for index, 2 for middle finger), force-controlled grasping, integrated RGB camera (FOV 160) with dedicated mount, and a bonus D405 camera mount. Weighs only 650 g with compact dimensions of 175 × 88 × 77 mm. This listing is for a single dexterous hand — specify left or right hand when ordering. Typically, two hands are selected per humanoid robot.
650g
Weight
7 DOF
Per Hand
3-Finger
Dexterous
RGB
Camera FOV 160
Force
Controlled
Product Overview
The Unitree R1 Dedicated Dex3-1 Force-Controlled Three-Finger Dexterous Hand is a state-of-the-art end-effector designed for the Unitree R1 humanoid robot platform. Weighing just 650 g with compact dimensions of 175 × 88 × 77 mm, this three-finger hand delivers human-like dexterity in a lightweight, power-efficient package. Each hand features 7 degrees of freedom — 3 for the thumb, 2 for the index finger, and 2 for the middle finger — enabling complex in-hand manipulation, precision pinching, and adaptive power grasping. The integrated force control system provides tactile feedback, allowing the hand to automatically adjust grip force based on object properties and task requirements. An onboard RGB camera with 160° FOV and dedicated mount provides color visual feedback directly at the hand for object recognition and visual servoing. As a bonus, a D405 camera mount (compatible with the three-finger hand) is included for customers who wish to add depth sensing. This listing is for a single dexterous hand — please specify left or right hand when ordering. Typically, two dexterous hands are selected per humanoid robot for full bimanual manipulation.
7 Degrees of Freedom
3 DOF for thumb, 2 DOF for index finger, 2 DOF for middle finger. Enables human-like dexterity including opposition, precision pinch, tripod grasp, and in-hand manipulation.
Force-Controlled Grasping
Integrated force control system provides tactile feedback and automatic grip force modulation. Grasp fragile objects gently and heavy objects securely without crushing or dropping.
Lightweight & Compact
Only 650 g with dimensions of 175 × 88 × 77 mm. Minimizes arm payload and inertia for fast, dynamic manipulation without compromising on dexterity or strength.
RGB Camera (FOV 160)
Built-in RGB camera with 160° field of view and dedicated mount. Provides color visual feedback at the hand for object recognition, visual servoing, and grasp verification.
Bonus D405 Camera Mount
Includes a bonus D405 camera mount compatible with the three-finger hand (Intel RealSense D405 depth camera not included). Add optional depth sensing for 3D grasp planning.
Left / Right Hand Selection
This listing is for a single dexterous hand. Please specify left or right hand when ordering. Typically, two hands are selected per humanoid robot for bimanual manipulation.
7-DOF Dexterity Breakdown
The Dex3-1 hand achieves remarkable dexterity through careful distribution of 7 independent degrees of freedom across three fingers, mimicking the essential kinematic structure of a human hand:
Thumb
3 DOF
Truly opposable thumb with 3 independent joints enables precision pinch, lateral pinch, and palmar opposition — the foundation of human grasping.
Index Finger
2 DOF
Two independent joints provide curling and extension for precision pointing, hook grasp, and index-thumb pinch for small object manipulation.
Middle Finger
2 DOF
Two independent joints work with index and thumb to form tripod grasps, power grasps, and adaptive enveloping grasps for objects of varying size.
Total
7 DOF per Hand
Optimized kinematic structure balancing dexterity, weight, and control complexity. Sufficient for most human-like manipulation tasks.
Force-Controlled Grasping
The Dex3-1 hand goes beyond simple position control by implementing a sophisticated force control system that measures and modulates grip force in real time. This enables the hand to interact safely and effectively with objects of unknown or varying properties:
Tactile Force Feedback
Integrated force sensors measure contact forces at the fingertips and palm. The control system uses this feedback to maintain optimal grip force without slipping or crushing.
Adaptive Grasping
Automatically adjusts grip force based on object weight, surface friction, and task requirements. Grasp a paper cup and a hammer with appropriate force for each.
Slip Detection
Real-time slip detection algorithms increase grip force when incipient slip is detected, preventing dropped objects without excessive pre-load force.
Compliant Manipulation
Force-controlled interaction enables safe manipulation of fragile, deformable, or human-held objects. Essential for collaborative and service robotics scenarios.
Integrated Vision System
The Dex3-1 hand incorporates a comprehensive vision system that provides both color feedback and optional depth expansion:
RGB
RGB Camera FOV 160
Built-in wide-angle RGB camera provides color visual feedback at the hand for object recognition, visual servoing, and grasp quality assessment.
Mount
RGB Camera Mount
Dedicated precision mount positions the RGB camera for optimal field of view with minimal occlusion during finger movement and grasping.
Bonus
D405 Camera Mount
Bonus D405 mounting bracket included (D405 depth camera not included). Add Intel RealSense D405 for depth-based 3D grasp planning and visual servoing.
Cables
Power & Data Cables
All necessary cables and accessories included for plug-and-play installation. Pre-terminated for clean integration with the R1 arm wiring harness.
Important Notes
- This package includes an integrated RGB Camera (FOV 160) with dedicated mount and a bonus D405 Camera Mount. The Intel RealSense D405 Depth Camera itself is not included.
- This price and information apply to a single dexterous hand. Typically, two dexterous hands are selected per humanoid robot. Please specify left or right hand when ordering.
- The D405 Camera Mount is compatible with the three-finger hand configuration. Customers can independently mount various cameras onto it if desired.
- Force control performance depends on calibration, object properties, and control algorithm tuning.
Technical Specifications
| Parameter | Unitree R1 Dex3-1 Three-Finger Dexterous Hand |
| Product Name | R1 Dedicated Dex3-1 Force-Controlled Three-Finger Dexterous Hand (Includes RGB Camera) |
| Weight | 650 g |
| Dimensions | 175 mm × 88 mm × 77 mm |
| Single-Hand Degrees of Freedom | 7 (3 for thumb, 2 for index finger, 2 for middle finger) |
| RGB Camera | RGB Camera (FOV 160) x1 — integrated |
| RGB Camera Mount | RGB Camera Dedicated Mount x1 |
| Cables & Accessories | Power cables, data cables, and installation accessories included |
| Bonus D405 Camera Mount | D405 Camera Mount x1 (compatible with three-finger hand). D405 depth camera not included |
| Grasp Control | Force-controlled grasping with tactile feedback |
| Compatible Robot | Unitree R1 humanoid robot |
| Package Quantity | Single dexterous hand per package |
| Typical Robot Configuration | Two dexterous hands per humanoid robot (specify left or right when ordering) |
| Warranty | 12 months |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* The Intel RealSense D405 Depth Camera is not included with this package. The bonus D405 Camera Mount is provided for customers who wish to add their own camera.
* This package includes one dexterous hand. Please specify left or right hand when ordering. For dual-arm manipulation, order two units (one left, one right).
* Force control performance depends on calibration, object properties, and environmental conditions.
* Unitree is a registered trademark of Unitree Robotics.
Unitree
by
Unitree
Unitree R1 Dedicated Dex3-1 Force-Controlled Three-Finger Dexterous Hand (Includes RGB Camera)
SKU:
R1 Dedicated-Dex3-1-Force-Controlled-3-Finger-Dexterous-Hand
- Regular price
- $7,680.00
- Sale price
- $7,680.00
- 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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