Unitree G1 Dexterous hand (single hand)

Key Features of the Single Hand Unitree G1 Dexterous Hand (Dex3-1, optional):

• Force Control Dexterity: Utilizes a combination of force-position hybrid control to be sensitive and reliable, allowing it to accurately simulate human-like hand movements for intricate tasks.
• High Degrees of Freedom (DoF): The standard three-fingered configuration (Dex3-1) offers a total of 7 active degrees of freedom (DoF) for the fingers alone, enabling a wide range of grasps:
  • Thumb: 3 active DoF
  • Index Finger: 2 active DoF
  • Middle Finger: 2 active DoF
• Precision Manipulation: Designed to handle delicate objects and execute fine motor tasks such as sorting, picking and placing, assembly, and potentially even food preparation.
• Learning-Driven Control: The hand’s high-level control is accelerated by modern AI techniques, including Imitation and Reinforcement Learning, allowing it to adapt and improve its manipulation skills over time.
• Tactile Sensing (Optional): The hand can be optionally equipped with multi-touch array sensors to provide haptic feedback, further enhancing the robot’s ability to grip and apply controlled force to objects.
• Integration: It is an optional, advanced upgrade for the Unitree G1 Humanoid Robot, complementing the robot’s high-torque arm motors and advanced control system.

The Unitree G1 Dexterous Hand is a critical component for developers, researchers, and educators aiming to push the boundaries of embodied AI, precise manipulation, and human-robot interaction.