Unitree Dex3-1

Unitree's three-fingered, force-controlled dexterous hand for the G1 humanoid, with 7 degrees of freedom.

The Dex3-1 is a three-fingered dexterous hand from Unitree Robotics, designed mainly to pair with Unitree's G1 humanoid robot. It has 7 actuated degrees of freedom: 3 in the thumb, and 2 each in the index and middle fingers. Six of the joints are direct-driven by miniature brushless motors, and one uses gear transmission, with force control supported throughout. The tactile version has 33 pressure sensors per hand, spread across the palm, fingertips, and finger pads. Rather than mimicking all five human fingers, it trades finger count for a simpler, more reliable structure, and can still perform common operations like grasping and pinching; it's often paired with the G1 in research settings for teleoperated data collection and training manipulation policies.

ExampleMany teleoperation and VLA experiments built on the Unitree G1 use an Apple Vision Pro to capture human hand motion, then retarget it onto the Dex3-1 to perform grasps.

Also called

Unitree Dex3, Dex3

Related

Unitree G1 · Unitree Robotics · Dexterous Hand · Unitree Dex5-1 · Tactile Sensor · Motion Retargeting

Sources

Unitree Dex3-1 - Unitree Robotics

As of

2026-09