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Unitree Dex5-1 Five-Finger Dexterous Hand
Regular price
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The Unitree Dex5-1 Five-Finger Dexterous Hand is a five-finger robotic dexterous hand with 20 degrees of freedom, described as 16 active plus 4. It uses force-controlled transmission joints, high-power-density hollow-cup motors, high-precision encoders, and a low-damping small-clearance reducer for smooth hand motion. The Dex5-1 supports 1000 Hz communication through USB2.0. It provides joint, temperature, voltage, current, and IMU perceptual feedback.
Highlights
- 20 degrees of freedom, described as 16 active plus 4
- Thumb has 4 degrees of freedom; each of the index, middle, ring, and little fingers has 3 degrees of freedom
- All five fingers can be replaced independently
- Four-finger lateral swing is ±22°
- Minimum grip diameter is 10 mm
- Fingertip repeat positioning accuracy is ±1 mm
- Fingertip strength is 10 N
- Communication interface is USB2.0 with 1000 Hz communication rate
- Working temperature range is -20℃ to 60℃
Technical specifications
| Spec | Value |
| Model — Official name | Unitree Dex5-1 Five-Finger Dexterous Hand |
| Model — SKU | Dex5-1 |
| Body Parameters — Weight | 1100 g |
| Body Parameters — Size | 217.3 mm x 127.5 mm x 72.1 mm |
| Body Parameters — Size note | Size is for the dexterous hand in flat state; the final shipped version may vary. |
| Degrees of Freedom — Total degrees of freedom | 20 degrees of freedom (16 active + 4) |
| Degrees of Freedom — Thumb | 4 |
| Degrees of Freedom — Index finger | 3 |
| Degrees of Freedom — Middle finger | 3 |
| Degrees of Freedom — Ring finger | 3 |
| Degrees of Freedom — Little finger | 3 |
| Transmission — Transmission mechanism | 12 self-developed micro force-controlled composite transmission joints; 4 micro force-controlled joint gear transmission |
| Transmission — Transmission mechanism note | Enables robot to achieve tactile proprioception |
| Joint Angles — Thumb Joint 0 | -33.5° to 39° |
| Joint Angles — Thumb Joint 1 | 0° to 100° |
| Joint Angles — Thumb Joint 2 | 0° to 110° |
| Joint Angles — Thumb Joint 3 | 0° to 92° |
| Joint Angles — Four-finger Knuckles 0 | -22° to 22° |
| Joint Angles — Four-finger Knuckles 1 | 0° to 90° |
| Joint Angles — Four-finger Knuckles 2 | 0° to 95° |
| Joint Angles — Four-finger Knuckles 3 | 0° to 81°; coupling with finger joint 2 |
| Motion — Four-finger lateral swing | ±22° |
| Grip / Force — Minimum grip diameter | 10 mm |
| Grip / Force — Fingertip repeat positioning accuracy | ±1 mm |
| Grip / Force — Fingertip strength | 10 N |
| Electrical — Working voltage | 24 V to 60 V |
| Electrical — Static current | 58 V @ 0.2 A |
| Electrical — Maximum current | 58 V @ 4 A |
| Communication — Communication interface | USB2.0 |
| Environment — Working temperature range | -20℃ to 60℃ |
| Load Conditions — Palm facing down at room temperature, grasping a 5 cm round hard object | Maximum weight is 3.5 kg |
| Load Conditions — Palm facing left at room temperature, grasping a 5 cm round hard object | Maximum weight is 4.5 kg |
| Software Functions — Communication rate | 1000 Hz |
| Software Functions — Number of bytes in a full packet | Sender: 1234 bytes; Receiver: 1270 bytes |
| Software Functions — Perceptual feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, imu Data |
| Software Functions — Control feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient |
| Mechanical Design — Motor | High-power density hollow-cup motor |
| Mechanical Design — Drive and encoder | High-power density drive and high-precision encoder |
| Mechanical Design — Reducer | Low damping small clearance reducer |
| Mechanical Design — Micro-gap design | The rotation axis of joint is closer to the surface, with ultra-small joint gaps. |
Use cases
- Reinforcement learning (RL) training
- Grasping curved surfaces of objects
- Dexterous hand operations requiring smooth and fluid grasping