Global Robotics
Dex2/5 is Unitree's compact five-finger tendon-driven hand for G1 and R1 humanoid integration. It has 10 total degrees of freedom controlled by two actuators: one for the thumb and one shared by the remaining four fingers. The manufacturer lists a 365 g mass, RS485 communication and internal wiring intended to reduce exposed cables. Control feedback includes joint position, velocity and torque. Its 1.5 kg load figure applies to the specified grasp of a 5 cm round hard object at room temperature, rather than every manipulation task.
Source-backed claims. Configuration, workload and evidence type matter when comparing products.
0.5 s
Reported claim
Parameter label: Minimum fist clench time
Minimum fist clench time 0.5 s
1,000 Hz
Reported claim
Parameter label: Communication Rate
Communication Rate 1000Hz
RS485
Reported claim
Parameter label: Communication Interface
Communication Interface RS485
Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient
Reported claim
Parameter label: Control Feedback
Control Feedback Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient
Thumb×1 Index Finger、Middle Finger、Ring Finger、Little Finger：share one DOF
Reported claim
Parameter label: Degrees of Freedom
Degrees of Freedom Thumb×1 Index Finger、Middle Finger、Ring Finger、Little Finger：share one DOF
151mm x 70mm x 63mm [1]
Reported claim
Parameter label: Size
Size 151mm x 70mm x 63mm [1]
Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current
Reported claim
Parameter label: Perceptual Feedback
Perceptual Feedback Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current
Thumb：15N Index finger, middle finger, ring finger, little finger: total 15 N
Reported claim
Parameter label: Fingertip strength
Fingertip strength Thumb：15N Index finger, middle finger, ring finger, little finger: total 15 N
Thumb Joint 0：0~42° Thumb Joint 1：0~105° Four-Finger Joint0：0~88° Four-Finger Joint1：0~105°
Reported claim
Parameter label: Angle of Joint
Angle of Joint Thumb Joint 0：0~42° Thumb Joint 1：0~105° Four-Finger Joint0：0~88° Four-Finger Joint1：0~105°
365 g
Reported claim
Parameter label: Weight
Weight 365g
58V@1.5A
Reported claim
Parameter label: Maximum Current
Maximum Current 58V@1.5A
8 mm
Reported claim
Parameter label: Minimum grip diameter
Minimum grip diameter 8mm
-20℃ ~ 60℃
Reported claim
Parameter label: Working Temperature Range
Working Temperature Range -20℃ ~ 60℃
24V-60V
Reported claim
Parameter label: Working Voltage
Working Voltage 24V-60V
The Maximum Weight is 1.5kg
Reported claim
Parameter label: Load Conditions ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object)
Load Conditions ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object) The Maximum Weight is 1.5kg
The Maximum Weight is 1.5kg
Reported claim
Parameter label: Load Conditions (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object)
Load Conditions (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object) The Maximum Weight is 1.5kg
58V@0.1A
Reported claim
Parameter label: Static Current
Static Current 58V@0.1A
Gear‑tendon rope drive
Reported claim
Parameter label: Transmission Mechanism
Transmission Mechanism Gear‑tendon rope drive
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