Unitree Dex2/5

The Unitree Dex2/5 is a five-finger tendon-driven dexterous robotic hand from Unitree Robotics, intended as an end effector for the Unitree G1 and R1 humanoids. The manufacturer describes it as a “Gala-style” design with a gear-tendon rope drive and hidden internal wiring.

The hand has 10 degrees of freedom, of which 2 are actively controlled: one on the thumb, while the four remaining fingers (index, middle, ring, little) share a single degree of freedom (an underactuated design). Joint ranges of motion are: thumb 0–42° and 0–105°, four-finger joints 0–88° and 0–105°. Minimum fist clench time is 0.5 s and minimum grip diameter is 8 mm.

Fingertip force is 15 N on the thumb and 15 N total across the four remaining fingers. Maximum payload is 1.5 kg (grasping a hard, round 5 cm object with the palm facing down or to the side). The hand weighs 365 g and measures 151 × 70 × 63 mm (flat state). It operates at 24–60 V over a -20°C to 60°C temperature range, communicates via an RS485 interface at 1000 Hz, and provides joint position, velocity, torque and temperature feedback as well as stiffness and damping control.