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Description
Unitree Robotics -- Official End-Effector
Unitree R1 Dedicated Tendon Cable Dexterous Hand
Official cable-driven dexterous hand for the Unitree R1 humanoid robot, developed in-house by Unitree Robotics. The Tendon Cable Dexterous Hand features a cable-driven actuation system with 2 degrees of freedom across 10 joints -- four fingers with 8 joints and a thumb with 2 joints. Weighing approximately 365g with compact dimensions of 151 x 67 x 70 mm, this hand delivers 10N fingertip force for reliable grasping across a wide range of objects. Operates on 24-58V and includes a full robot development interface for secondary development. This listing is for a single hand -- typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
10
Joints (2 DOF)
10N
Fingertip Force
365g
Weight
24-58V
Operating Voltage
Open
Dev Interface
Product Overview
The Unitree R1 Dedicated Tendon Cable Dexterous Hand is an in-house developed cable-driven dexterous hand designed specifically for the Unitree R1 humanoid robot. Unlike linkage or gear-driven alternatives, this hand employs a tendon cable actuation system that routes flexible cables from remotely mounted actuators to each finger joint, enabling a lightweight, compact end-effector with natural compliance. The hand features 2 degrees of freedom distributed across 10 total joints -- four fingers with 8 joints and a thumb with 2 joints -- providing sufficient dexterity for everyday grasping and manipulation tasks. At approximately 365g with dimensions of 151 x 67 x 70 mm, the hand minimizes payload on the R1 arm while delivering 10N fingertip force for secure object handling. A full robot development interface is provided for researchers and engineers to implement custom control algorithms and grasp strategies.
Cable-Driven Actuation
Tendon cable drive system routes flexible cables from remote actuators to finger joints. Enables lightweight construction, natural compliance, and smooth, human-like finger motion with minimal backlash.
2 DOF, 10 Joints
2 active degrees of freedom controlling 10 total joints -- four fingers with 8 joints and a thumb with 2 joints. Coupled joint motion provides coordinated finger flexion for stable power and precision grasps.
10N Fingertip Force
10 Newton fingertip force delivers reliable grasping for a wide range of everyday objects. Sufficient for handling tools, containers, and household items in research and service applications.
In-House Development
Developed internally by Unitree Robotics specifically for the R1 platform. Optimized mechanical and electrical integration ensures seamless compatibility with the R1 control system and kinematics.
Compact & Lightweight -- 365g
At approximately 365g with compact dimensions of 151 x 67 x 70 mm, the hand minimizes arm payload and moment inertia, improving the R1 robot's dynamic performance and reach.
Robot Development Interface
Full robot development interface is provided for secondary development. Access joint control, state feedback, and implement custom grasp strategies, force control, and tactile algorithms.
Cable-Driven Design & Joint Architecture
The Tendon Cable Dexterous Hand employs a cable-driven actuation architecture that separates motors from the hand structure, routing force through flexible tendons to achieve a lightweight, compliant end-effector:
Actuation
Tendon Cable Drive
Flexible tendon cables transmit force from remote actuators to finger joints. Enables back-drivable, compliant motion that adapts naturally to object geometry without complex sensing.
Four Fingers
8 Joints Total
Four fingers with 8 coupled joints provide coordinated flexion and extension. Coupled motion simplifies control while maintaining stable enveloping grasps on objects of varying size and shape.
Thumb
2 Joints
Thumb with 2 independent joints enables opposition and precision pinch grasps. Critical for fine manipulation tasks requiring thumb-index coordination.
Remote Actuators
Lightweight Hand Structure
Motors mounted remotely from the hand reduce end-effector mass to just 365g. Cables run through the wrist and forearm for clean integration with the R1 robot arm.
Grasping Capabilities
Despite its streamlined 2-DOF design, the Tendon Cable Dexterous Hand achieves versatile grasping through compliant cable-driven mechanics and coupled joint motion:
Power Grasp
All four fingers and thumb wrap around objects in a coordinated enveloping motion. Cable compliance allows fingers to conform to irregular surfaces for stable, secure holds.
Precision Pinch
Thumb-opposition pinch with the index or middle finger enables delicate handling of small objects. 2-DOF thumb control provides sufficient dexterity for precision tasks.
Lateral Grasp
Fingers close against the thumb in a scissor-like motion for gripping flat or thin objects such as cards, paper, and sheets. Effective for pick-and-place of planar items.
Compliant Adaptation
Cable-driven compliance allows fingers to passively adapt to object shape without active sensing. Reduces control complexity while improving grasp success on unknown objects.
Secondary Development & Robot Interface
The Tendon Cable Dexterous Hand is designed for researchers and developers who need a lightweight, open platform for manipulation research. Unitree provides a comprehensive robot development interface:
Robot Development Interface
Full robot development interface provided. Access joint position, velocity, and force data. Command finger opening/closing and thumb opposition via the R1 control API.
Secondary Development Support
Supports secondary development with documentation and sample code. Implement custom grasp planners, force control loops, and adaptive manipulation algorithms on the R1 platform.
R1 Native Integration
In-house developed by Unitree for native compatibility with the R1 robot. Plug-and-play electrical and mechanical integration with the R1 arm and compute module.
Wide Voltage Range
Operates on 24-58V DC, compatible with the R1 robot power bus. Flexible voltage acceptance simplifies integration and supports various operational modes.
What's Included (Per Hand)
Each Tendon Cable Dexterous Hand package contains the following components for a single hand:
Hand
Tendon Cable Dexterous Hand
Complete cable-driven hand assembly with 2 DOF, 10 joints, tendon routing, and finger mechanics.
Actuators
Remote Drive Motors
Remote-mounted actuators with tendon cable transmission to the hand. Integrated with the R1 forearm.
Cables
Power & Data Cables
All necessary power cables for 24-58V operation and data cables for the robot development interface.
Docs
Dev Interface & Manual
Robot development interface documentation, API reference, and quick-start guide for hand setup and calibration.
Important Notes
- This hand does not include haptic feedback sensors. Force control must be implemented through motor current sensing or external vision systems.
- This hand is developed in-house by Unitree Robotics specifically for the R1 platform. Native integration with the R1 control system is guaranteed.
- This is the price and information for a single hand. Typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
- Operating voltage: 24-58V DC. Ensure the R1 robot power bus is configured within this range.
- Secondary development requires programming knowledge and familiarity with robotics control concepts and the Unitree R1 development framework.
- Tendon cables require periodic inspection and tension adjustment to maintain optimal performance. Refer to the maintenance guide for scheduling.
Technical Specifications
| Parameter | Unitree R1 Tendon Cable Dexterous Hand |
| Product Name | Tendon Cable Dexterous Hand |
| Development | In-house development by Unitree Robotics |
| Compatible Robot | Unitree R1 humanoid robot |
| Drive Mechanism | Cable-driven (tendon actuation) |
| Total Degrees of Freedom | 2 |
| Total Number of Joints | 10 |
| Finger Configuration | Four fingers with 8 joints; Thumb with 2 joints |
| Dimensions (Approx.) | 151 x 67 x 70 mm |
| Weight (Approx.) | 365 g |
| Operating Voltage | 24 - 58 V DC |
| Fingertip Force | 10 N |
| Haptic Feedback | Not included |
| Secondary Development | Supported |
| Robot Development Interface | Provided |
| Package Quantity | Single hand per package |
| Typical Robot Configuration | Two hands per humanoid robot (dual-arm) |
| Warranty | 12 months |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* This hand does not include haptic feedback sensors. Force control must be implemented through motor current sensing or external vision systems.
* This hand is developed in-house by Unitree Robotics specifically for the R1 platform.
* This package includes one dexterous hand. For dual-arm manipulation, order two units.
* Operating voltage: 24-58V DC. Ensure the R1 robot power bus is configured within this range.
* Tendon cables require periodic inspection and tension adjustment. Refer to the maintenance guide for scheduling.
* Secondary development requires programming skills and familiarity with robotics control concepts.
* Unitree is a registered trademark of Unitree Robotics.
Description
Unitree Robotics -- Official End-Effector
Unitree R1 Dedicated Tendon Cable Dexterous Hand
Official cable-driven dexterous hand for the Unitree R1 humanoid robot, developed in-house by Unitree Robotics. The Tendon Cable Dexterous Hand features a cable-driven actuation system with 2 degrees of freedom across 10 joints -- four fingers with 8 joints and a thumb with 2 joints. Weighing approximately 365g with compact dimensions of 151 x 67 x 70 mm, this hand delivers 10N fingertip force for reliable grasping across a wide range of objects. Operates on 24-58V and includes a full robot development interface for secondary development. This listing is for a single hand -- typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
10
Joints (2 DOF)
10N
Fingertip Force
365g
Weight
24-58V
Operating Voltage
Open
Dev Interface
Product Overview
The Unitree R1 Dedicated Tendon Cable Dexterous Hand is an in-house developed cable-driven dexterous hand designed specifically for the Unitree R1 humanoid robot. Unlike linkage or gear-driven alternatives, this hand employs a tendon cable actuation system that routes flexible cables from remotely mounted actuators to each finger joint, enabling a lightweight, compact end-effector with natural compliance. The hand features 2 degrees of freedom distributed across 10 total joints -- four fingers with 8 joints and a thumb with 2 joints -- providing sufficient dexterity for everyday grasping and manipulation tasks. At approximately 365g with dimensions of 151 x 67 x 70 mm, the hand minimizes payload on the R1 arm while delivering 10N fingertip force for secure object handling. A full robot development interface is provided for researchers and engineers to implement custom control algorithms and grasp strategies.
Cable-Driven Actuation
Tendon cable drive system routes flexible cables from remote actuators to finger joints. Enables lightweight construction, natural compliance, and smooth, human-like finger motion with minimal backlash.
2 DOF, 10 Joints
2 active degrees of freedom controlling 10 total joints -- four fingers with 8 joints and a thumb with 2 joints. Coupled joint motion provides coordinated finger flexion for stable power and precision grasps.
10N Fingertip Force
10 Newton fingertip force delivers reliable grasping for a wide range of everyday objects. Sufficient for handling tools, containers, and household items in research and service applications.
In-House Development
Developed internally by Unitree Robotics specifically for the R1 platform. Optimized mechanical and electrical integration ensures seamless compatibility with the R1 control system and kinematics.
Compact & Lightweight -- 365g
At approximately 365g with compact dimensions of 151 x 67 x 70 mm, the hand minimizes arm payload and moment inertia, improving the R1 robot's dynamic performance and reach.
Robot Development Interface
Full robot development interface is provided for secondary development. Access joint control, state feedback, and implement custom grasp strategies, force control, and tactile algorithms.
Cable-Driven Design & Joint Architecture
The Tendon Cable Dexterous Hand employs a cable-driven actuation architecture that separates motors from the hand structure, routing force through flexible tendons to achieve a lightweight, compliant end-effector:
Actuation
Tendon Cable Drive
Flexible tendon cables transmit force from remote actuators to finger joints. Enables back-drivable, compliant motion that adapts naturally to object geometry without complex sensing.
Four Fingers
8 Joints Total
Four fingers with 8 coupled joints provide coordinated flexion and extension. Coupled motion simplifies control while maintaining stable enveloping grasps on objects of varying size and shape.
Thumb
2 Joints
Thumb with 2 independent joints enables opposition and precision pinch grasps. Critical for fine manipulation tasks requiring thumb-index coordination.
Remote Actuators
Lightweight Hand Structure
Motors mounted remotely from the hand reduce end-effector mass to just 365g. Cables run through the wrist and forearm for clean integration with the R1 robot arm.
Grasping Capabilities
Despite its streamlined 2-DOF design, the Tendon Cable Dexterous Hand achieves versatile grasping through compliant cable-driven mechanics and coupled joint motion:
Power Grasp
All four fingers and thumb wrap around objects in a coordinated enveloping motion. Cable compliance allows fingers to conform to irregular surfaces for stable, secure holds.
Precision Pinch
Thumb-opposition pinch with the index or middle finger enables delicate handling of small objects. 2-DOF thumb control provides sufficient dexterity for precision tasks.
Lateral Grasp
Fingers close against the thumb in a scissor-like motion for gripping flat or thin objects such as cards, paper, and sheets. Effective for pick-and-place of planar items.
Compliant Adaptation
Cable-driven compliance allows fingers to passively adapt to object shape without active sensing. Reduces control complexity while improving grasp success on unknown objects.
Secondary Development & Robot Interface
The Tendon Cable Dexterous Hand is designed for researchers and developers who need a lightweight, open platform for manipulation research. Unitree provides a comprehensive robot development interface:
Robot Development Interface
Full robot development interface provided. Access joint position, velocity, and force data. Command finger opening/closing and thumb opposition via the R1 control API.
Secondary Development Support
Supports secondary development with documentation and sample code. Implement custom grasp planners, force control loops, and adaptive manipulation algorithms on the R1 platform.
R1 Native Integration
In-house developed by Unitree for native compatibility with the R1 robot. Plug-and-play electrical and mechanical integration with the R1 arm and compute module.
Wide Voltage Range
Operates on 24-58V DC, compatible with the R1 robot power bus. Flexible voltage acceptance simplifies integration and supports various operational modes.
What's Included (Per Hand)
Each Tendon Cable Dexterous Hand package contains the following components for a single hand:
Hand
Tendon Cable Dexterous Hand
Complete cable-driven hand assembly with 2 DOF, 10 joints, tendon routing, and finger mechanics.
Actuators
Remote Drive Motors
Remote-mounted actuators with tendon cable transmission to the hand. Integrated with the R1 forearm.
Cables
Power & Data Cables
All necessary power cables for 24-58V operation and data cables for the robot development interface.
Docs
Dev Interface & Manual
Robot development interface documentation, API reference, and quick-start guide for hand setup and calibration.
Important Notes
- This hand does not include haptic feedback sensors. Force control must be implemented through motor current sensing or external vision systems.
- This hand is developed in-house by Unitree Robotics specifically for the R1 platform. Native integration with the R1 control system is guaranteed.
- This is the price and information for a single hand. Typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
- Operating voltage: 24-58V DC. Ensure the R1 robot power bus is configured within this range.
- Secondary development requires programming knowledge and familiarity with robotics control concepts and the Unitree R1 development framework.
- Tendon cables require periodic inspection and tension adjustment to maintain optimal performance. Refer to the maintenance guide for scheduling.
Technical Specifications
| Parameter | Unitree R1 Tendon Cable Dexterous Hand |
| Product Name | Tendon Cable Dexterous Hand |
| Development | In-house development by Unitree Robotics |
| Compatible Robot | Unitree R1 humanoid robot |
| Drive Mechanism | Cable-driven (tendon actuation) |
| Total Degrees of Freedom | 2 |
| Total Number of Joints | 10 |
| Finger Configuration | Four fingers with 8 joints; Thumb with 2 joints |
| Dimensions (Approx.) | 151 x 67 x 70 mm |
| Weight (Approx.) | 365 g |
| Operating Voltage | 24 - 58 V DC |
| Fingertip Force | 10 N |
| Haptic Feedback | Not included |
| Secondary Development | Supported |
| Robot Development Interface | Provided |
| Package Quantity | Single hand per package |
| Typical Robot Configuration | Two hands per humanoid robot (dual-arm) |
| Warranty | 12 months |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* This hand does not include haptic feedback sensors. Force control must be implemented through motor current sensing or external vision systems.
* This hand is developed in-house by Unitree Robotics specifically for the R1 platform.
* This package includes one dexterous hand. For dual-arm manipulation, order two units.
* Operating voltage: 24-58V DC. Ensure the R1 robot power bus is configured within this range.
* Tendon cables require periodic inspection and tension adjustment. Refer to the maintenance guide for scheduling.
* Secondary development requires programming skills and familiarity with robotics control concepts.
* Unitree is a registered trademark of Unitree Robotics.
Unitree
by
Unitree
Unitree R1 Tendon Cable Dexterous Hand
SKU:
R1-Tendon-Cable-Dexterous-Hand
- Regular price
- $1,490.00
- Sale price
- $1,490.00
- 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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