Force-controlled dexterous robotic hand · serves as: Manipulation, Grasping. · compatible with: Humanoid.
Which group Unitree Dex5-1P belongs to and how it is built
Multi-finger robotic hand capable of precise manipulation and grasping of objects of varying shapes.
Force-controlled dexterous robotic hand components are advanced manipulator end-effectors equipped with force, torque, or contact sensing, designed for safe and precise object handling. They are used in humanoid robots, research platforms, and tasks requiring delicate or adaptive grasping.
Anthropomorphic five-finger robotic hand that mimics the layout of a human hand.
Basic physical properties of Unitree Dex5-1P — dimensions, weight and materials
Other hardware parts related to Unitree Dex5-1P
Unitree Dex5-series five-finger dexterous robotic hand with 20 degrees of freedom (16 active + 4 passive) and micro force-controlled joints; USB 2.0 interface, up to 4.5 kg payload.
Unitree Dex5-series dexterous robotic hand with 22 degrees of freedom at 1:1 human-hand size; all 22 joints are backdrivable with per-joint impact-torque protection.
The Unitree Dex5-1P is a variant of the Unitree Dex5-1 five-finger dexterous robotic hand, additionally equipped with a tactile sensing layer. The hand retains 20 degrees of freedom (16 active + 4 passive: thumb 4 DOF, the remaining fingers 3 DOF each) and is intended for precise manipulation and grasping on humanoid robots.
The key difference from the base Dex5-1 is the integration of 94 pressure sensors per hand, distributed across the fingertips and palm surface, with a measurement range of 10 g–2500 g. They enable contact-force sensing during grasping and object manipulation.
Actuation is provided by 12 self-developed micro force-controlled composite-transmission joints plus 4 micro force-controlled gear-transmission joints, driven by hollow-cup motors. Stated fingertip force is 10 N, fingertip repeat positioning accuracy ±1 mm, and the communication rate 1000 Hz. Joint feedback covers position, velocity, torque, temperature, and stiffness/damping coefficients. Maximum payload is 3.5 kg with the palm facing down and 4.5 kg with the palm to the side.
The hand weighs 1100 g, measures 217.3 × 127.5 × 72.1 mm, has a minimum grip diameter of 10 mm and a four-finger lateral swing range of ±22°. It operates at 24–60 V (static current 58 V @ 0.2 A, maximum current 58 V @ 4 A) over a -20°C to 60°C temperature range and communicates via USB 2.0.
