Unitree Dex5-1 Robotic Hand Pair for Unitree H2

Description

Description

• Unitree Dex5-1 Hand for Unitree H2 (Pair)
• 16 DOF for precise five-finger manipulation
• Supports up to 4.5 kg load depending on grip orientation

The Unitree Dex5-1 Hand for Unitree H2 (Pair) offers highly advanced five-finger dexterous hands designed specifically for the H2 humanoid robot. With 16 active degrees of freedom – 4 for the thumb and 3 for each of the other fingers – these provide exceptional dexterity for complex manipulation tasks. Its micro force-controlled transmission system allows for precise interaction with objects, enabling both delicate and powerful grasps while maintaining real-time feedback for joint position, velocity, torque, temperature, and fingertip forces.

Built for precision and versatility, the Dex5-1 features a fingertip repeatability of ±1 mm, a minimum grasping diameter of 10 mm, and the ability to handle up to 4.5 kg depending on grip orientation. Operating over a wide voltage range (24 – 60 V) with high-speed communication at 1000 Hz, supports seamless integration into H2 applications.

View moreWhat’s Included

• 1x Unitree Dex5-1 Hand for Unitree H2 (Right)
• 1x Unitree Dex5-1 Hand for Unitree H2 (Left)

Note: This is a self-developed repair part and cannot be purchased separately; it must be ordered together with an H2 unit.

Dimensions

• 217.3 x 127.5 x 72.1 mm (Note: The final shipped version may vary.)
• Minimum grip diameter: 10 mm
• Fingertip Repeat Positioning Accuracy: ±1 mm

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• Compatibility: Unitree H2 Humanoid Robot
• Orientation: Right Hand, Left Hand
• Type: Five-Finger Dexterous Hand
• Active Degrees of Freedom: 16
  • Thumb: 4 DOF
  • Index Finger: 3 DOF
  • Middle Finger: 3 DOF
  • Ring Finger: 3 DOF
  • Little Finger: 3 DOF
• Transmission Mechanism:
  • 12 proprietary micro force-controlled composite transmission joints
  • 4 micro force-controlled joint gear transmissions
• Joint Angles:
  • Thumb: Joint 0: -33.5° to 39°, Joint 1: 0° to 100°, Joint 2: 0° to 110°, Joint 3: 0° to 92°
  • Four Fingers: Joint 0: -22° to 22°, Joint 1: 0° to 90°, Joint 2: 0° to 95°, Joint 3: 0° to 81° (coupled with Joint 2)
• Four-Finger Lateral Swing: ±22°
• Minimum Grasping Diameter: 10 mm
• Fingertip Repeatability: ±1 mm
• Fingertip Force: 10 N
• Load Capacity:
  • Palm Down, Gripping 5 cm Object: Max 3.5 kg
  • Palm Left, Gripping 5 cm Object: Max 4.5 kg
• Operating Voltage: 24 V – 60 V
• Quiescent Current: 0.2 A at 58 V
• Maximum Current: 3 A at 58 V
• Communication Interface: USB 2.0
• Communication Rate: 1000 Hz
• Sensor Feedback: Joint mode, position, velocity, torque, temperature, voltage/current, IMU data
• Operating Temperature: -20°C to 60°C