Unitree Dex5-1

5

20

3.5 kg

electric

Yes

Multi-Finger/Anthropomorphic Hand

Unitree Dex5-1

1 mm

4 A

1100 g

USB 2.0 at a 1000 Hz communication rate. Full packet: 1234 bytes sender, 1270 bytes receiver. Feedback: joint mode, position, velocity, torque, temperature, voltage and current, IMU (Dex5-1P adds sensor pressure and sensor temperature). Control: joint mode, position, velocity, torque, stiffness coefficient, damping coefficient.

Dex5-1 (base) and Dex5-1P (adds pressure-sensor arrays: 12 units, 94 sensors, 10 g - 2500 g perception, 20 kg maximum acceptance). Body, degrees of freedom, weight, voltage and communication are identical across both.

1000 Hz

24–60 VDC

USB 2.0

12 self-developed micro force-controlled composite transmission joints plus 4 micro force-controlled gear transmission joints; hollow-cup motors with a low-damping, small-clearance reducer. All five fingers are independently replaceable.

10 N

16 dof

0.2 A

4 dof

Dex5-1: force-controlled joints give tactile proprioception; Unitree's sensing table lists no pressure sensors for this variant ('/'). Dex5-1P adds 12 pressure-sensor units, 94 sensors in total, perception range 10 g - 2500 g.

217.3 × 127.5 × 72.1 mm

-20 °C to +60 °C

Vendor test conditions, room temperature, grasping a 5 cm round hard object: 3.5 kg with the palm facing down, 4.5 kg with the palm facing left.

10 mm