宇树 Dex3-1 三指力控灵巧手，单手可集成 33 个触觉传感器。采用 6 个微型无刷力控关节直驱 + 1 个齿轮传动关节，7 自由度，可配合 G1 人形机器人完成复杂操作。
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技术参数
其他参数
| Size | 34.8mm x 23.1mm x 23.3mm |
| Model | F-1515-108 Miniature Brushless Force Control Joint F-1515-214 Miniature Brushless Force Control joint |
| Weight | 45g |
| Encoder | Rotor Absolute Value Encoder |
| Angle of Joint | Thumb Joint 0: -60°~60° Thumb Joint 1: -35°~60° The Thumb Joint 2: 0 to 100° Index Finger Joint 0: 0 °~90° Index Finger Joint 1: 0 °~100° Middle Finger Joint 0: 0 °~90° Middle Finger Joint 1: 0 °~100° |
| Static Current | 58V @ 0.2A |
| Working Voltage | 12-24V |
| 2 x 2 (Palm) x 3 | 2 x 2 (Single Finger Pad) x 3 |
| Control feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient Miniature Brushless Force Control Joint Parameters |
| Communication rate | 1000Hz |
| Degrees of Freedom | Thumb x 3 Index Finger x 2 Middle Finger x 2 |
| Perceptual feedback | Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, Sensor Pressure Value, Sensor Temperature Value, imu Data |
| Range of Perception | 10g-2500g |
| Sender：1234 bytes | Receiver：1270 bytes |
| Maximum Torque (Ideal) | 0.76Nm 1.498Nm |
| 6 Motors Drive Directly | 1 Motor Drive with Gears |
| Maximum Torque (Actual) | The Torque Is In The Same Direction As The Speed：0.49Nm The Torque Is In The Same Direction As The Speed：0.86Nm The Toque Is In The Opposite Direction of The Rotational Speed：1.37Nm The Toque Is In The Opposite Direction of The Rotational Speed：3.1 Nm |
| Method of Communication | High Speed Unibus |
| Maximum Rotational Speed | 23rad/s 11rad/s |
| Motor Preceived Feedback | Torque, Angle, Angular Velocity, Temperature |
| Motor Control Instruction | Torque, Angle, Angular Velocity, Stiffness, Damping |
| Maximum Acceptance (Unamaged) | 20kg |
| Communication Control Frequency | 1000Hz |
| Fingertip Repeat Positioning Accuracy | ±2mm |
| Load Condition (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object) | The Maximum Weight is 500g The Maximum Power Is: 400W@3s Sensing parameters |
| Load Conditions ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object) | The Maximum Weight is 500g The Maximum Power Is: 400W@3s |
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