Unitree G1 Dex3-1 robotic hands (left + right), tactile sensors, 7 DoF each

Each hand carries 9 sensor arrays (66 measuring elements across both hands), with a detection range of 10–2500 g and a maximum load of 20 kg without damage. The joints use F-1515-108 and F-1515-214 motors with control of torque, angle, velocity, stiffness and damping; feedback covers position, torque, temperature and IMU data. Communication runs over USB 2.0 at 1000 Hz. A single hand weighs 710 g. Suited to manipulation and grasping research.

• Type: robotic hand set (left + right), accessory for the Unitree G1 humanoid robot
• Degrees of freedom: 7 per hand (thumb 3, index finger 2, middle finger 2)
• Drive: 6 direct-drive motors + 1 gear-driven motor, hybrid force and position control
• Sensors: 33 pressure sensors per hand, 10–2500 g, 20 kg load without damage
• Precision: fingertip repeatability ±2 mm, 1000 Hz communication, USB 2.0
• Power: 12–58 V, max 10 A; operating temperature –20 °C to 60 °C
• Weight and size: 710 g per hand, 175 × 88 × 77 mm
• MPN: DEX3WT-214T, manufacturer Unitree
• Warranty: 12 months