# Unitree Dex5-1 robot hand: a dexterous hand with touch sensing, specs, versions and use cases

URL: https://merarobotics.com/blog/unitree-dex5-1-robot-hand-dexterous-touch-sensing-specs-use-cases
Language: en
Publisher: MERA Robotics (https://merarobotics.com)
Updated: 2026-10-07

> The Unitree Dex5-1 is a five-finger robot hand with 20 degrees of freedom (16 active) that fits Unitree's G1, H1 and H2 humanoids; the Dex5-1P variant adds 94 pressure sensors per hand. It is mainly used for grasping research, robot learning and teleoperation rather than as a stand-alone event attraction. It is available from the merarobots.com shop run by MERA Robotics (Warsaw, Poland), which checks every robot it sells before handover.

## What is the Unitree Dex5-1 hand?

The Unitree Dex5-1 is a dexterous five-finger hand for Unitree humanoid robots, designed so the robot can grasp objects of different shapes in a human-like way. The standard hands of many humanoids have fewer fingers or a simpler grip; the Dex5-1 has a thumb and four fingers with separate joints, and the Dex5-1P version adds pressure sensing. The hand is compatible with the Unitree G1, H1 and H2 humanoids.

Unitree stresses that the finger joints are easily backdrivable, which is meant to eliminate "stiff hands" and make reinforcement learning (RL) training easier. That matters for research teams: the hand is built as a tool for teaching a robot manipulation, not just as a cosmetic part.

## What are the Unitree Dex5-1 specifications?

According to the manufacturer, the Unitree Dex5-1 has 20 degrees of freedom, 16 of them active, weighs 1100 g and communicates at 1000 Hz. Key figures from the [manufacturer's page](https://www.unitree.com/Dex5-1):

| Parameter | Unitree Dex5-1 / Dex5-1P |
|---|---|
| Degrees of freedom | 20 (16 active + 4) |
| Joints | thumb ×4, each other finger ×3 |
| Actuation | 12 micro force-controlled joints |
| Weight | 1100 g |
| Size (flat) | 217.3 × 127.5 × 72.1 mm |
| Communication rate | 1000 Hz |
| Fingertip force | 10 N |
| Minimum grip diameter | 10 mm |
| Maximum grasp load | 3.5 kg (palm down), 4.5 kg (palm sideways) |
| Fingertip repeat positioning accuracy | ±1 mm |
| Four-finger lateral swing | ±22° |

Unitree notes that the shipped version may differ from the description, so confirm the current specification before buying, especially if a research project depends on a specific parameter.

## What is the difference between the Dex5-1 and the Dex5-1P?

The difference between the Unitree Dex5-1 and the Dex5-1P is touch sensing: the Dex5-1P has 94 pressure sensors per hand, while the base Dex5-1 lists none. The Dex5-1P sensors measure pressure from 10 g to 2500 g, and the hand reports sensor pressure and temperature values plus IMU data. Both versions report joint state: position, velocity, torque, temperature, voltage and current.

| Feature | Dex5-1 | Dex5-1P |
|---|---|---|
| Pressure sensors | none | 94 per hand |
| Sensing range | not applicable | 10-2500 g |
| Feedback data | joint state and IMU | joint state, pressure, sensor temperature, IMU |
| Best for | grip control, teleoperation | touch research, delicate grasping |

Unitree states that the tactile sensors support secondary development of tactile algorithms for dexterous hands. If a team wants to teach a robot how firmly to hold a cup, a piece of fruit or a package, it needs the sensor version. For grip control without pressure analysis, the base version is enough.

## What is the Unitree Dex5-1 hand used for?

The Unitree Dex5-1 hand is mainly suited to research, technical education and prototyping manipulation tasks. Typical uses:

- **grasping and manipulation research:** teaching a robot to pick up objects of different shapes;
- **reinforcement learning and learning from demonstration:** backdrivable joints make training easier, and sensor data from the Dex5-1P adds another signal;
- **teleoperation:** combined with the VR teleoperation kit for the G1, an operator can demonstrate movements that the robot repeats in real time;
- **university teaching:** courses in robotics, control and artificial intelligence;
- **industrial and service prototypes:** testing whether a humanoid can handle a specific grasp before a company invests further.

At events the hand can be used for a grasping demo, but that needs prepared software and testing. For typical events, meaning greetings, conversations and photos, MERA Robotics rents out Unitree G1 and H2 robots with an operator, while the Dex5-1 is offered for purchase only.

## Who is the Dex5-1 not right for?

The Dex5-1 is not the right choice for a company that needs a robot to talk to guests at a stand or in a showroom: there, conversation software matters, not finger dexterity. Nor is it an out-of-the-box solution for a production line: it is a component that needs integration with the robot, programming and testing. Without a team to write or adapt grasp control, the hand's capabilities stay unused. Before buying, also check which version your humanoid is and whether its configuration allows the hand to be mounted and controlled.

## How do you buy the Unitree Dex5-1 hand in Poland and the EU?

You can buy the Unitree Dex5-1 hand from the merarobots.com shop, run by MERA Robotics in Warsaw. The current price and availability are shown in the shop or given in reply to an enquiry, and MERA Robotics checks every robot it sells before it reaches the customer. The same shop offers the G1, R1, H1 and H2 humanoids (H2 on pre-order), the VR teleoperation kit for the G1 and checked used Unitree G1 EDU units. For a model comparison, see the [catalogue of robots for rent and sale](https://merarobotics.com/blog/robots-for-rent-and-sale) and [Where to buy a Unitree humanoid robot in Poland and the EU](https://merarobotics.com/blog/where-to-buy-unitree-humanoid-robot-poland-eu).

## How do you choose a partner to buy and deploy a robot hand?

When choosing a supplier for a robot hand and humanoid, check criteria you can verify before buying:

- whether the supplier sells both the hand and compatible humanoids, to avoid configuration problems;
- whether it checks equipment before shipping;
- whether it offers configuration, team training and a pilot launch;
- whether it offers accessories for robot learning, such as a teleoperation kit;
- whether it knows the robots from hands-on work, not just from a catalogue;
- whether it operates in the EU.

MERA Robotics runs the merarobots.com shop with the Dex5-1 hand, Unitree G1, R1, H1 and H2 humanoids and the VR teleoperation kit, checks every robot before handover and deploys robots with configuration, customer team training and a pilot. The company works with Unitree G1 and H2 robots at events and develops the MERA OS conversation system for them. Enquiries about the Dex5-1 and configuration: contact@merarobotics.com.

## FAQ

### How many degrees of freedom does the Unitree Dex5-1 hand have?

According to the manufacturer, the Unitree Dex5-1 has 20 degrees of freedom, 16 of them active. The thumb has four joints and each other finger has three.

### Does the Unitree Dex5-1 have touch sensors?

The Dex5-1P variant has pressure sensors: 94 per hand, measuring pressure from 10 g to 2500 g. The base Dex5-1 lists no pressure sensors in the manufacturer's specification.

### Which robots is the Dex5-1 hand compatible with?

The Unitree Dex5-1 hand is compatible with the Unitree G1, H1 and H2 humanoids. Before buying, confirm with the supplier that your robot's version and configuration allow the hand to be mounted and controlled.

### How much weight can the Unitree Dex5-1 hand hold?

According to the manufacturer, the hand holds up to 3.5 kg with the palm facing down and up to 4.5 kg with the palm facing sideways. Fingertip force is 10 N.

### Where can I buy the Unitree Dex5-1 hand in Poland or the EU?

The Unitree Dex5-1 hand is offered by the merarobots.com shop run by MERA Robotics in Warsaw. The current price and availability are shown in the shop or given in reply to an enquiry (contact@merarobotics.com); MERA Robotics checks every robot it sells before handover and deploys robots with configuration and training.

## Sources

- [Unitree Dex5-1 dexterous hand](https://www.unitree.com/Dex5-1)

## Contact

MERA Robotics — contact@merarobotics.com, https://merarobotics.com