Unitree Dex3-1 force controlled three finger dexterous

Key Features and Technology

• Force and Position Hybrid Control: The Dex3-1 employs a combination of force and position control, allowing for highly sensitive and reliable interaction with objects.² This hybrid approach enables precise and delicate operations, preventing damage to fragile items.
• 7 Degrees of Freedom (DoF): The hand provides a total of 7 active degrees of freedom distributed across its three fingers:
  • Thumb: 3 DoF
  • Index Finger: 2 DoF
  • Middle Finger: 2 DoF
• Integrated Tactile Sensing: Equipped with 33 tactile sensors per hand (with optional sensor array installation), the Dex3-1 collects rich contact data, providing the robot with a sense of touch for enhanced manipulation, adaptive grip stability, and fine-motor control.
• High Precision Actuation: Movement is driven by 6 micro brushless force-control joint direct drives and 1 micro brushless force-control joint gear drive, ensuring precise, responsive, and powerful movements with a fingertip repeatability accuracy of ⁸$\pm2 \text{ mm}$.
• Compact and Lightweight: Weighing approximately ¹⁰$710\text{g}$ and featuring a compact design, it is engineered for seamless integration without compromising the robot’s agility.
• Robust Performance: It is capable of grasping objects up to ¹²$500\text{g}$ and supports a high communication rate of ¹³$1000\text{Hz}$ for real-time responsiveness.
• Comprehensive Feedback and Control: Provides extensive perceptual feedback (including joint mode, position, velocity, torque, temperature, sensor pressure, and IMU data) and supports granular control feedback (including stiffness and damping coefficients), making it a powerful tool for advanced robotics research.

Applications

The Dex3-1 is an industrial-grade accessory ideal for a wide array of high-level robotics research and application scenarios, including:

• Humanoid robotics development and research.
• AI tactile learning and human-robot interaction experiments.
• Robotic manipulation simulation and object handling.
• Dexterity benchmarking and autonomous grasping algorithm development.

By providing a highly articulate, force-controlled, and sensor-rich end-effector, the Unitree Dex3-1 significantly elevates the robot’s ability to perform complex, real-world manipulation tasks.