Unitree Dex5-1

宇树 Dex5-1 灵巧手Advanced

A 20-degree-of-freedom five-fingered dexterous hand from Unitree Robotics, available in a tactile-sensing version.

The Dex5-1 is the five-fingered dexterous hand Unitree Robotics built to go with its own humanoid robots. It has 20 degrees of freedom in total, 16 actively driven and 4 passive: the thumb has 4 actively driven degrees of freedom, and each of the other four fingers has 3 actively driven plus 1 passive. Its joints are driven by coreless motors paired with low-backlash reducers; Unitree states that each joint is back-drivable (an external force can push the joint), which helps with force control, and gives fingertip repeatability of about ±1 mm. The “P” variant, Dex5-1P, adds 94 tactile sensors across the palm, fingertips, and finger segments. According to the product page, it can be mounted on Unitree humanoid robots such as the H1 and H1-2, and researchers have also used it for dexterous manipulation and teleoperation data collection.

Also called: Dex5, Dex5-1P
Related: Dexterous Hand · Unitree Dex3-1 · Unitree Robotics · Tactile Sensor · Thumb Opposition · Coreless Motor
Sources: Unitree Dex5-1 - Unitree Robotics
Unitree releases new Dex5-1 humanoid robot hand - Robotics 24/7
As of: 2026-09