Unitree Robot Hands

Introduction / Overview

The hands of the Unitree fleet are the fastest-shipping dexterous manipulators in the world by simple arithmetic: they ride on the fingers — literal and figurative — of the planet's most-shipped humanoid family. And because Unitree keeps its wrist sockets open, the choice is wider than one brand: this page covers Unitree's own Dex family and the leading compatible alternatives this catalog carries — BrainCo's Revo hands (the R1's official dexterity option) and the Inspire five-finger hands of U5-class G1 builds.

The native ladder climbs three ambitions. The Dex1-1 two-finger gripper (V1 standard; V2 with integrated RGB camera) covers fast pick-place and data-collection missions at entry economics. The Dex3-1 — the G1's signature pairing and the manipulation baseline of the field's academic literature — delivers 7 degrees of freedom from micro brushless force-control joints (six direct-drive, one gear-drive) with 33 tactile sensors per hand and complete state telemetry: position, velocity, torque, stiffness, damping, temperature, per-sensor pressure, and IMU. The flagship Dex5-1/Dex5-1P left-right pair reaches 20 degrees of freedom (16 active + 4 passive) across 12 backdrivable composite-transmission force-controlled joints — eliminating the "stiff hand" effect for RL and adaptive control — with optional tactile arrays of 94 sensors per hand at 1,000 Hz, proven flipping pages and solving Rubik's Cubes across G1, H1/H1-2, H2, and G1-D, while the new Dex2/5 line extends toward high-force work.

Beside them stands BrainCo: the Harvard-born neurotechnology company whose Revo hands descend from its celebrated bionic prosthetics — human-hand engineering shipped at scale on real people before it ever mounted on a robot. The Revo 2, offered as the R1's five-finger dexterity option alongside the Dex3-1, brings that prosthetic-grade power density and lifelike grasping to Unitree's most accessible platform, with the tactile-rich Revo 3 extending the family's frontier — both covered in depth on their dedicated pages on this site. For manipulation researchers, data programs, and fleet operators, this page maps the full choice; datasheets available on request.

Design and Features

Dex1-1 — The Professional Gripper

• Two fingers, refined — the economical parallel-class effector for logistics tasks, teleoperation baselines, and high-volume data collection.
• V2's eye-in-hand — the integrated RGB camera putting vision at the point of grasp: visual servoing and manipulation-data capture without external rigging.
• The fleet default — the effector G1-D data stations and cost-conscious programs standardize on.

Dex3-1 — The Force-Control Workhorse

• 7 DoF of genuine force control — six micro brushless direct-drive joints plus one gear-drive joint: torque-mode manipulation enabling compliant grasps of fragile and irregular objects.
• 33 tactile sensors per hand — pressure sensing across the grip surface, in tiers with and without tactile to match budget to research depth.
• Total-state transparency — the full telemetry stream that makes the Dex3-1 the hand of published force-control research, and the standard pairing behind the G1's assembly and manipulation milestones (also the R1 EDU's three-finger option).

Dex5-1 / Dex5-1P — The Five-Finger Flagship

• 20 DoF, humanly distributed — 16 active and 4 passive degrees across all five fingers via 12 composite-transmission force-controlled joints: independent finger motion with lifelike articulation.
• Backdrivability as doctrine — every finger joint smoothly backdrivable, killing the stiff-hand effect: the compliance property learning-based control treats as non-negotiable.
• 94 sensors at 1,000 Hz — the optional tactile tier delivering kilohertz contact perception.
• Proof in fine motor — page flipping, Rubik's-Cube solving, precision handling on dedicated left/right units across G1/H1/H2.

BrainCo Revo — The Prosthetic-Pedigree Alternative

• Born on human wrists — BrainCo's Revo hands descend from its award-winning bionic prosthetic program: grasping engineered for daily human life, validated by real users at scale before robotics adoption — a pedigree no robot-first hand shares.
• Revo 2 on the R1 — the official five-finger option for Unitree's accessibility flagship (offered alongside the Dex3-1), prized for its power density: serious grip strength in the compact, lightweight package the R1's small frame demands.
• Revo 3 at the frontier — the tactile-rich evolution extending BrainCo's family toward contact-aware research — full specifications on the dedicated BrainCo pages of this site.
• Why it matters here — the Revo line gives R1 and compatible-platform owners a five-finger path at the accessible end of the ladder, where Unitree's own five-finger flagship targets larger platforms and budgets.

Inspire Five-Finger and Dex2/5

Inspire RH56-family hands ship on U5-class G1 builds — the industry-incumbent five-finger option (covered in this catalog's Inspire section) — while Unitree's new Dex2/5 line ("precise control for unbeatable strength") extends the native family toward high-force industrial tasks.

Technology and Specifications

The Full Choice at a Glance

Compatibility varies by robot revision and configuration — confirm current datasheets before ordering; datasheets are available on request.

Choosing Your Hand — The Decision Logic

Task shape and platform decide. Pick-place and data throughput → Dex1-1. Force-control research and the literature's baseline → Dex3-1. Anthropomorphic fine motor with kilohertz touch on full-size platforms → Dex5-1 pair. Five fingers on an R1 or compact build → BrainCo Revo 2, the power-density pick with prosthetic pedigree. Incumbent-standard five-finger on G1 → Inspire. High-force industrial → watch Dex2/5. This catalog carries every column of that table — the comparison is purchasable, not theoretical.

Position in the Catalog

This page is the junction between your Unitree tree and your Robot Hands category: native Dex hands anchor the volume-and-integration pole, BrainCo the prosthetic-pedigree/power-density pole, Inspire the incumbent pole — with Linkerbot, Shadow, and the wider category one click away. No competitor catalog articulates this choice in one place.

Applications and Use Cases

Manipulation Research

Dex3-1 force-control studies and Dex5-1 anthropomorphic work on the platforms the peer-reviewed literature already runs.

Accessible Five-Finger Programs

Revo 2-equipped R1s bringing genuine five-finger dexterity to education and entry research budgets — the ladder's most affordable anthropomorphic rung.

Imitation-Learning Data Collection

Gripper and hand telemetry (torque, tactile to 1,000 Hz) feeding demonstration datasets via VR teleoperation and G1-D pipelines.

Autonomous Task Development

The hands behind the G1's assembly demonstrations and UnifoLM's household-task autonomy.

Fleet Standardization

One distributor across every effector — native, BrainCo, and Inspire — with unified support, spares, and upgrade paths.

Advantages / Benefits

• The complete choice, one supplier — Unitree native, BrainCo, and Inspire hands compared and purchasable side by side.
• A true ladder — gripper to 94-sensor five-finger, with the Revo 2 filling the accessible-anthropomorphic rung no native hand covers.
• Force control throughout — torque-mode joints from the three-finger up; backdrivable compliance at the flagship.
• Prosthetic-proven engineering — BrainCo's human-validated grasp pedigree on robot wrists.
• Kilohertz touch — 1,000 Hz tactile streaming at the family's top tier.
• Upgrade continuity — open sockets letting hand strategy evolve independently of robot strategy.

For buyers researching where to buy hands for Unitree humanoids, or comparing Dex1-1, Dex3-1, Dex5-1, and BrainCo Revo 2 prices and costs, the evaluation should weigh task shape, platform fit, force-control depth, tactile tier, and budget rung — the dimensions this full-choice page was built to span.

FAQ

What hands are available for Unitree humanoid robots?

Unitree's native family — the Dex1-1 gripper (V1/V2), Dex3-1 three-finger (7 DoF, 33 tactile sensors), Dex5-1/Dex5-1P five-finger pair (20 DoF, up to 94 sensors at 1,000 Hz), and new Dex2/5 strength line — plus compatible alternatives this catalog carries: BrainCo's Revo 2 (the R1's official five-finger option) and Revo 3, and Inspire's RH56-family hands on U5-class G1 builds.

What is the Unitree Dex3-1?

The Dex3-1 is Unitree's three-finger force-control dexterous hand: 7 degrees of freedom from micro brushless force-controlled joints, 33 tactile sensors per hand, and complete state telemetry — the standard G1 manipulation pairing, the R1 EDU's three-finger option, and the field's most-published force-control baseline.

What is the Unitree Dex5-1?

The Dex5-1 (left) and Dex5-1P (right) form Unitree's five-finger flagship: 20 degrees of freedom (16 active, 4 passive) on 12 backdrivable composite-transmission force-controlled joints, with optional tactile arrays up to 94 sensors per hand streaming at 1,000 Hz — demonstrated flipping pages and solving Rubik's Cubes on G1, H1, and H2 platforms.

What are BrainCo Revo hands, and do they fit Unitree robots?

BrainCo's Revo hands are five-finger dexterous manipulators descended from the company's acclaimed bionic prosthetics — human-validated grasping engineering. The Revo 2 is offered as the Unitree R1's official five-finger dexterity option (alongside the Dex3-1), bringing power-dense anthropomorphic grasping to the compact platform; see the BrainCo pages on this site for full specifications.

Should I choose the Dex5-1 or a BrainCo Revo 2?

Platform first: on an R1 or compact build, the Revo 2 is the five-finger path — power-dense, lightweight, and officially supported. On G1/H1/H2-class platforms, the Dex5-1 pair delivers the native flagship's backdrivability and kilohertz tactile tier. Where both fit, the choice weighs tactile depth (Dex5-1) against prosthetic-pedigree grip and value (Revo 2).

Should I choose the Dex3-1 or a five-finger hand?

Dex3-1 for force-control research, compliant grasping, and the strongest value in serious manipulation — three fingers cover most tasks at a fraction of five-finger cost. Go five-finger (Dex5-1, Revo 2, or Inspire) when anthropomorphic kinematics, human-tool handling, or finger count itself is the research variable.

Why does hand choice matter so much?

The hand determines what a humanoid can actually do — and what data it can collect. Force control decides grasp safety, tactile tier decides learning signal, kinematics decide task range: the hand is often the highest-leverage line item on the whole configuration.

How much do hands for Unitree robots cost?

The range tiers from accessory-priced grippers through the professional three-finger class and BrainCo's accessible five-finger rung to the flagship tactile pairs. Contact a distributor for current pricing, tactile-tier guidance, compatibility confirmation, datasheets, and delivery timelines for your region.

Summary

The hands of the Unitree fleet are a genuine choice, and this catalog carries all of it: the Dex1-1 gripping and seeing at data-line speed; the Dex3-1 feeling through 33 sensors on seven force-controlled joints — the hand the literature holds things with; the Dex5-1 pair flipping pages on twenty backdrivable degrees of freedom and a thousand touch readings per second; BrainCo's Revo 2 bringing prosthetic-proven, power-dense five-finger grasping to the R1's accessible frame with the tactile Revo 3 beyond it; and Inspire's incumbent five-finger standard on U5 builds. One fleet, every grip, one supplier. For anyone looking to buy a Unitree Dex1-1, Dex3-1, or Dex5-1, a BrainCo Revo 2 or Revo 3, or Inspire hands for a Unitree platform — or to compare their costs and plan a manipulation, data-collection, or fleet program — this guide provides the essential foundation.