Unitree Dex5-1P Tactile Hand for Unitree H1/H1-2 (Right)

Description

• Unitree Dex5-1P Tactile Hand (Right)
• Designed for Unitree H1/H1-2 humanoid robots
• 20 Degrees of Freedom with Independent Finger Replacement
• 94 Tactile Sensors per Hand Supports advanced tactile feedback
• 12 Pressure Sensors (94 pressure sensors in total)
• High-Speed Reflexes with Micro Force-Controlled Joints
• Ultra-Precise Fingertip Control with 1mm repeat positioning accuracy

TheUnitree Dex5-1P Tactile Hand for Unitree H1/H1-2 (Right) is a next-generation robotic hand engineered for high-performance humanoid applications, designed specifically for compatibility with the Unitree H1 and H1-2 robots. Featuring 20 degrees of freedom and individually replaceable fingers, the Dex5-1 sets a new benchmark in robotic dexterity. Each joint is designed for smooth backdrivability, eliminating the rigid, “stiff-hand” sensation and providing the fluid responsiveness required for reinforcement learning (RL) environments. Its four-finger lateral swing (22) enhances grip reliability, adapting intelligently to curved and irregular surfaces.

Built for both speed and sensitivity, the Dex5-1 integrates 94 tactile sensors per hand and supports secondary algorithm development, giving researchers and developers complete control down to the millimeter. High-power density hollow-cup motors, micro force-controlled transmission, and ultra-low damping joint design ensure lightning-fast reflexes and seamless motion. With fingertip positioning accuracy of 1mm, gripping strength of up to 10N, and a load capacity of up to 4.5 kg, the hand offers both power and finesse.

From its ultra-small joint gap design that prevents snagging, to its 1000Hz communication rate and real-time perceptual feedbackincluding position, torque, stiffness, and IMU datathe Dex5-1 is engineered for high-fidelity interaction. Whether in academic research, advanced robotics training, or real-world manipulation tasks, the Unitree Dex5-1 delivers unmatched tactile control and adaptability.

View moreWhat’s Included

• 1x Unitree Dex5-1P Tactile Hand for Unitree H1/H1-2 (Right)

Dimensions

• 217.3x 127.5x 72.1 mm (Note: The final shipped version may vary.)
• Minimum grip diameter: 10 mm
• Fingertip Repeat Positioning Accuracy: 1 mm

Multimedia

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Body Parameters

• Degrees of Freedom
  • Thumb x 4
  • Index Finger x 3
  • Middle Finger x 3
  • Ring Finger x 3
  • Little Finger x 3
• Transmission Mechanism
  • 12 self-developed micro force-controlled composite transmission joints (enable robot to achieve tactile proprioception)
  • 4 micro force-controlled joint gear transmission
• Angle of Joint
  • Thumb Joint:
    • Thumb Joint 0: -33.5~39
    • Thumb Joint 1: 0~100
    • Thumb Joint 2: 0~110
    • Thumb Joint 3: 0~92
  • Four-Finger Joints:
    • Knuckles 0: -22~22
    • Knuckles 1: 0~90
    • Knuckles 2: 0~95
    • Knuckles 3: 0~81(Coupling with finger joint 2)
• Four-Finger Lateral Swing: 22
• Fingertip strength: 10N
• Working Voltage: 24V ~ 60V
• Static Current: 58V at 0.2A
• Maximum Current: 58V at 3A
• Communication Interface: USB 2.0
• Working Temperature Range: -20C~ 60 C
• Load Conditions (Palm facing down at room temperature, grasping a 5cm round hard object): Maximum Weight is 3.5 kg
• Load Condition (Palm facing left at room temperature, grasping a 5cm round hard object):Maximum Weight is 4.5 kg
• Weight: 1000 g

Sensing parameters

• Number of Pressure Sensors: 12 (94 pressure sensors in total)
• Array resolution
  • 2 x 5 (Palm)
  • 2 x 3 (Single Finger Pad) x5
  • 2 x 3 (Single Fingertip) x5
  • 2 x 3 (Single Finger Root) x4
• Range of Perception: 10 g – 2500 g
• Maximum Acceptance (Unamaged): 20 kg

Software functions

• Communication rate: 1000 Hz
• The number of bytes in a full packet
  • Sender: 1234 bytes
  • Receiver: 1270 bytes
• Perceptual feedback: Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, imu Data
• Control feedback: Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient