{"product_id":"robotic-hands-unitree-g1-dex3-1-l-r-with-tactile-sensor","title":"Robotic Hands UNITREE G1 Dex3-1 L+R with tactile sensor","description":"\u003ch3\u003eUNITREE G1 Dex3-1 Robotic Hands (left + right) with a touch sensor\u003c\/h3\u003e\n\u003cp\u003eThe UNITREE G1 Dex3-1 set includes a left and right three-fingered robotic hand designed to work with the UNITREE G1 humanoid robot. Each hand offers 7 degrees of freedom, utilizes 7 miniature brushless joints with force control, and is equipped with 33 pressure sensors distributed across the palm, fingers, and fingertips. Hybrid force- and position-based control allows for precise control of movement and contact with an object, and the positioning repeatability of the fingertip is ±2 mm. With 1,000 Hz communication, a USB 2.0 interface, and a wide range of feedback data, the Dex3-1 enables both complex manipulations and the collection of detailed data regarding hand movement and contact with objects.\u003c\/p\u003e\n\u003cp\u003e\n\u003cimg alt=\"A silver-and-black Unitree robot with a blue light on its head is sitting at a table, holding a plastic bottle and a glass\" border=\"0\" src=\"https:\/\/assets.innpro.pl\/24812\/32588\/1-0ccbe008-b9c2-499d-938b-6b1bee4f21c8.jpg\"\u003e\n\u003c\/p\u003e\u003ch3\u003e7 degrees of freedom for precise movement\u003c\/h3\u003e\n\u003cp\u003eEach Dex3-1 hand has three movable fingers—the thumb has 3 degrees of freedom, the index finger has 2, and the middle finger has another 2. The range of motion of each joint allows for complex grip configurations—for the thumb, it ranges from -60° to 60°, from -35° to 60°, and from 0° to 100°, while the joints of the index and middle fingers operate within ranges of 0° to 90° and 0° to 100°, respectively. This design allows the fingers to be repositioned in multiple planes and their arrangement to be adapted to the task at hand. The positioning repeatability of the fingertip at ±2 mm further supports tasks requiring consistent movement replication.\u003c\/p\u003e\n\u003cp\u003e\n\u003cimg alt=\"A silver-and-black Unitree robot with a blue light on its head is placing objects into a blue container on the table\" border=\"0\" src=\"https:\/\/assets.innpro.pl\/24812\/32588\/3-d1a32f50-327b-49c9-8af2-cdf4f2e5c541.jpg\"\u003e\n\u003c\/p\u003e\u003ch3\u003e33 pressure sensors and sensitive contact measurement\u003c\/h3\u003e\n\u003cp\u003eThe Dex3-1 version with touch sensors enables simultaneous detection of hand-to-object contact at multiple points. Each hand contains 9 sensor arrays comprising a total of 33 pressure sensors, resulting in 66 measurement elements when the left and right hands are combined. There are three 2 × 2 arrays on the palm, another three 2 × 2 arrays on the fingers, and three 3 × 1 arrays on the fingertips. The pressure detection range is from 10 g to 2,500 g, while the maximum load the sensor can withstand without damage is 20 kg. The sensors also transmit data on their temperature, and the 1,000 Hz communication frequency allows for the rapid acquisition of information needed for contact analysis and control.\u003c\/p\u003e\n\u003cp\u003e\n\u003cimg alt=\"A silver-and-black Unitree robot with a blue light on its head is building a tower out of colorful blocks on a white table\" border=\"0\" src=\"https:\/\/assets.innpro.pl\/24812\/32588\/2-e9d14e1d-b4fc-453f-baec-8fe54a95538f.jpg\"\u003e\n\u003c\/p\u003e\u003ch3\u003eHybrid Force Control and Advanced Joints\u003c\/h3\u003e\n\u003cp\u003eThe UNITREE Dex3-1 uses hybrid force and position control, so control is not limited solely to setting specific finger positions. The design of each hand includes 6 miniature, directly driven brushless force-control joints and 1 joint using a geared drive. The F-1515-108 and F-1515-214 models are used, enabling control of torque, angle, angular velocity, stiffness, and damping. For the F-1515-108, the rated maximum torque is 0.76 Nm, with an actual torque of 0.49 Nm in the direction of rotation and 1.37 Nm in the opposite direction. For the F-1515-214, these values are 1.498 Nm, 0.86 Nm, and 3.1 Nm, respectively.\u003c\/p\u003e\n\u003cp\u003e\n\u003cimg alt=\"A silver-and-black Unitree robot with a blue light on its head is holding black boxes with its hands\" border=\"0\" src=\"https:\/\/assets.innpro.pl\/24812\/32588\/4-90bbd329-efd7-40e5-ba73-486b158e08a6.jpg\"\u003e\n\u003c\/p\u003e\u003ch3\u003eExtensive real-time feedback data\u003c\/h3\u003e\n\u003cp\u003eThe system provides a wide range of information regarding the current status of the mechanics and sensors. Perceptual data includes the joint’s mode, position, velocity, torque, and temperature, as well as voltage, current, force, sensor temperatures, and IMU data. The control feedback also includes the joint’s stiffness and damping coefficients. This allows for precise observation of the hand’s behavior while performing a task and enables the simultaneous use of multiple parameters during motion planning and control.\u003c\/p\u003e\n\u003cp\u003e\n\u003cimg alt=\"A black robotic gripper next to a transparent outline of a human hand against a dark background\" border=\"0\" src=\"https:\/\/assets.innpro.pl\/24812\/32588\/5-aa72460a-41f8-426f-98b8-028a4a70e540.jpg\"\u003e\n\u003c\/p\u003e\u003ch3\u003e1000 Hz Communication and USB 2.0\u003c\/h3\u003e\n\u003cp\u003eThe hand’s communication interface uses USB 2.0, and the communication frequency is 1000 Hz. A full data packet is 1,234 bytes on the transmit side and 1,270 bytes on the receive side. The joint control frequency is also 1,000 Hz, and High Speed Unibus is used for joint communication. These parameters provide access to a large amount of information about the hand’s status and enable frequent updates to control parameters during the execution of complex motion sequences.\u003c\/p\u003e\n\u003cp\u003e\n\u003cimg alt=\"A black robotic hand with blue-glowing elements on its fingers and the palm against a dark background\" border=\"0\" src=\"https:\/\/assets.innpro.pl\/24812\/32588\/7-234f893d-bcc3-42ef-951a-409008b9f151.jpg\"\u003e\n\u003c\/p\u003e\u003ch3\u003eDesign tailored to the UNITREE G1 robot\u003c\/h3\u003e\n\u003cp\u003eA single hand weighs 710 g, and its dimensions when extended are 175 × 88 × 77 mm. Dex3-1 can work in conjunction with the UNITREE G1 humanoid robot and enables the performance of a variety of complex manipulation tasks. The mechanism’s compact dimensions are combined with an advanced motion system, pressure sensors, and a feedback system, making both actuation and measurement functions available in a single design.\u003c\/p\u003e\n\u003cp\u003e\n\u003cimg alt=\"A robotic hand holding a precision tool over a small printed circuit board lying on a cutting mat\" border=\"0\" src=\"https:\/\/assets.innpro.pl\/24812\/32588\/6-c952c64a-e22a-44cc-bf9e-e615f0305a03.jpg\"\u003e\n\u003c\/p\u003e\n\u003cdiv class=\"table-wrapper\"\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003ch3\u003eGeneral\u003c\/h3\u003e\n\u003ctable\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003cth\u003eManufacturer\u003c\/th\u003e\n\u003ctd\u003eUNITREE\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eModel\u003c\/th\u003e\n\u003ctd\u003eDEX3WT-214T\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eCompatibility\u003c\/th\u003e\n\u003ctd\u003eUNITREE G1\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003ch3\u003eGripper Specifications\u003c\/h3\u003e\n\u003ctable\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003cth\u003eWeight\u003c\/th\u003e\n\u003ctd\u003e710 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDimensions\u003c\/th\u003e\n\u003ctd\u003e175 × 88 × 77 mm (when extended)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDegrees of Freedom\u003c\/th\u003e\n\u003ctd\u003eThumb ×3\u003cbr\u003eIndex finger ×2\u003cbr\u003eMiddle finger ×2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDrive Mechanism\u003c\/th\u003e\n\u003ctd\u003e6 direct-drive motors\u003cbr\u003e1 gear-driven motor\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eJoint Range of Motion\u003c\/th\u003e\n\u003ctd\u003eThumb joint 0: -60° to 60°\u003cbr\u003eThumb joint 1: -35° to 60°\u003cbr\u003eThumb joint 2: 0° to 100°\u003cbr\u003eIndex finger joint 0: 0° to 90°\u003cbr\u003eIndex finger joint 1: 0° to 100°\u003cbr\u003eMiddle finger joint 0: 0° to 90°\u003cbr\u003eMiddle finger joint 1: 0° to 100°\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eFinger Tip Positioning Repeatability\u003c\/th\u003e\n\u003ctd\u003e±2 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eOperating Voltage\u003c\/th\u003e\n\u003ctd\u003e12–58 V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eStandby Current\u003c\/th\u003e\n\u003ctd\u003e0.2 A at 58 V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMaximum Current\u003c\/th\u003e\n\u003ctd\u003e10 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eCommunication Interface\u003c\/th\u003e\n\u003ctd\u003eUSB 2.0\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eOperating temperature range\u003c\/th\u003e\n\u003ctd\u003eFrom -20°C to 60°C\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eLoad conditions (palm facing down, room temperature, gripping a hard round object with a diameter of 5 cm)\u003c\/th\u003e\n\u003ctd\u003eMaximum weight: 500 g\u003cbr\u003eMaximum power: 400 W for 3 s\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eLoad conditions (palm facing left, room temperature, gripping a hard round object with a diameter of 5 cm)\u003c\/th\u003e\n\u003ctd\u003eMaximum weight: 500 g\u003cbr\u003eMaximum power: 400 W for 3 s\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003ch3\u003eSensor parameters\u003c\/h3\u003e\n\u003ctable\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003cth\u003eNumber of sensor arrays\u003c\/th\u003e\n\u003ctd\u003e9 (33 pressure sensors in total)\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eSensor array resolution\u003c\/th\u003e\n\u003ctd\u003e2 × 2 (palm area) ×3\u003cbr\u003e2 × 2 (finger pad) × 3\u003cbr\u003e3 × 1 (single fingertip) × 3\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDetection range\u003c\/th\u003e\n\u003ctd\u003e10–2,500 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMaximum load without damage\u003c\/th\u003e\n\u003ctd\u003e20 kg\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003ch3\u003eSoftware features\u003c\/h3\u003e\n\u003ctable\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003cth\u003eCommunication frequency\u003c\/th\u003e\n\u003ctd\u003e1000 Hz\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eNumber of bytes in a full data packet\u003c\/th\u003e\n\u003ctd\u003eTransmitter: 1234 bytes\u003cbr\u003eReceiver: 1270 bytes\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMeasurement feedback data\u003c\/th\u003e\n\u003ctd\u003eJoint mode\u003cbr\u003eJoint position\u003cbr\u003eJoint speed\u003cbr\u003eJoint torque\u003cbr\u003eJoint temperature\u003cbr\u003eVoltage and current\u003cbr\u003eSensor pressure value\u003cbr\u003eSensor temperature\u003cbr\u003eIMU data\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eControl feedback\u003c\/th\u003e\n\u003ctd\u003eJoint mode\u003cbr\u003eJoint position\u003cbr\u003eJoint speed\u003cbr\u003eJoint torque\u003cbr\u003eJoint stiffness coefficient\u003cbr\u003eJoint damping coefficient\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003cp\u003e \u003c\/p\u003e\n\u003ch3\u003eParameters of the miniature brushless force-controlled joint\u003c\/h3\u003e\n\u003ctable\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003cth\u003eModel\u003c\/th\u003e\n\u003ctd\u003eF-1515-108 Miniature Brushless Force-Controlled Joint\u003cbr\u003eF-1515-214 Miniature Brushless Force-Controlled Joint\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eWeight\u003c\/th\u003e\n\u003ctd\u003e45 g\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eDimensions\u003c\/th\u003e\n\u003ctd\u003e34.8 × 23.1 × 23.3 mm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eGear Ratio\u003c\/th\u003e\n\u003ctd\u003eF-1515-108: 1:108\u003cbr\u003eF-1515-214: 1:214\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMaximum Torque (theoretical value)\u003c\/th\u003e\n\u003ctd\u003eF-1515-108: 0.76 Nm\u003cbr\u003eF-1515-214: 1.498 Nm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMaximum Torque (actual value, torque in the direction of rotation)\u003c\/th\u003e\n\u003ctd\u003eF-1515-108: 0.49 Nm\u003cbr\u003eF-1515-214: 0.86 Nm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMaximum torque (actual value, torque opposite to the direction of rotation)\u003c\/th\u003e\n\u003ctd\u003eF-1515-108: 1.37 Nm\u003cbr\u003eF-1515-214: 3.1 Nm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMaximum rotational speed\u003c\/th\u003e\n\u003ctd\u003eF-1515-108: 23 rad\/s\u003cbr\u003eF-1515-214: 11 rad\/s\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMaximum line current\u003c\/th\u003e\n\u003ctd\u003e4.76 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eControl communication frequency\u003c\/th\u003e\n\u003ctd\u003e1000 Hz\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eCommunication method\u003c\/th\u003e\n\u003ctd\u003eHigh Speed Unibus\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eEncoder\u003c\/th\u003e\n\u003ctd\u003eAbsolute rotor position encoder\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eOperating temperature range\u003c\/th\u003e\n\u003ctd\u003eFrom -20°C to 60°C\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eIP rating\u003c\/th\u003e\n\u003ctd\u003e\/\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eOperating voltage\u003c\/th\u003e\n\u003ctd\u003e12–24 V\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMotor feedback\u003c\/th\u003e\n\u003ctd\u003eTorque\u003cbr\u003eAngle\u003cbr\u003eAngular velocity\u003cbr\u003eTemperature\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003cth\u003eMotor control commands\u003c\/th\u003e\n\u003ctd\u003eTorque\u003cbr\u003eAngle\u003cbr\u003eAngular velocity\u003cbr\u003eStiffness\u003cbr\u003eDamping\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\n\u003c\/div\u003e","brand":"UNITREE","offers":[{"title":"Default Title","offer_id":62739165839747,"sku":"DEX3WT-214T","price":15854.0,"currency_code":"EUR","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0958\/4286\/1443\/files\/65635_1.webp?v=1790979133","url":"https:\/\/grozs.lv\/ru\/products\/robotic-hands-unitree-g1-dex3-1-l-r-with-tactile-sensor","provider":"Grozs.lv","version":"1.0","type":"link"}