Unitree Dex5-1 Dexterous Hand
Vendor: 宇树科技
Product: Dex5-1
Unitree five-finger dexterous hand at 1100 g with 20 DoF (16 active: 4 thumb + 3 per finger), ±22° four-finger abduction, 10 mm minimum grasp diameter, ±1 mm fingertip repeatability and 10 N per-fingertip force; hollow-cup motors with low-backlash reducers, all joints back-drivable and fingers individually replaceable; 24-60 V supply (58V@0.2A static, 58V@4A peak), USB 2.0, -20~60°C; palm-down load 3.5 kg / palm-sideways 4.5 kg on a 5 cm rigid object; Dex5-1P adds 94 tactile sensors (palm 2×5, finger-belly 5×2×3, fingertip 5×2×3, finger-base 4×2×3 arrays).
| size | 217.3×127.5×72.1 mm |
| drive | 空心杯电机 + 低背隙减速器，全关节可反驱 |
| weight | 1100g |
| tactile | Dex5-1P：94 个触觉传感器（掌部 2×5、指腹/指尖 5×2×3、指根 4×2×3 阵列） |
| voltage | 24-60V（静态 58V@0.2A / 峰值 58V@4A） |
| total_dof | 20 |
| active_dof | 16（拇指 4 + 四指各 3） |
| maintenance | 手指可单独更换 |
| communication | USB 2.0 |
| load_capacity | 3.5 kg 掌向下 / 4.5 kg 掌侧向（5cm 刚性物体） |
| repeatability | 指尖 ±1 mm |
| operating_temp | -20~60℃ |
| finger_abduction | 四指侧摆 ±22° |
| min_grasp_diameter | 10 mm |
| max_fingertip_force | 10 N |