Unitree G1 Dex5-1

Product Description

Unitree Dex5-1 is a five-finger tactile dexterous hand representing the most capable end-effector in Unitree's product range, designed for the G1, H1, and H1-2 humanoids and setting a new benchmark for commercial robotic hand performance. With 20 degrees of freedom (16 active, 4 passive) and smooth backdrivability across all joints, it eliminates the stiff, mechanical movements of conventional robot hands and enables direct force control, reinforcement learning training, and in-hand manipulation. Four fingers can swing laterally by ±22° for enhanced grip reliability on curved and irregular surfaces, and a micro-gap joint design prevents snagging during complex grasps. The optional Dex5-1P variant adds 94 tactile sensors per hand (sensing 10 to 2500 g of pressure and temperature) for tactile AI algorithm development. 12 self-developed micro force-controlled composite transmission joints enable tactile proprioception, and 1000 Hz communication rate supports real-time perceptual feedback.

Key Highlights

• 20 DoF (16 active, 4 passive); 5 fingers; smooth backdrivability for RL training
• ±22° lateral finger swing for reliable grip on curved and irregular surfaces
• Micro-gap joint design prevents snagging; 3.5 to 4.5 kg payload capacity
• 1000 Hz communication; full joint position, torque, velocity, and IMU feedback