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Description
- 1x Unitree Dex5-1 Tactile Hand for Unitree H1/H1-2 (Right)
- 217.3 x 127.5 x 72.1 mm (Note: The final shipped version may vary.)
- Minimum grip diameter: 10 mm
- Fingertip Repeat Positioning Accuracy: ±1 mm
Body Parameters
- Degrees of Freedom
- Thumb x4
- Index Finger x3
- Middle Finger x3
- Ring Finger x3
- Little Finger x3
- Transmission Mechanism
- 12 self-developed micro force-controlled composite transmission joints (enable robot to achieve tactile proprioception)
- 4 micro force-controlled joint gear transmission
- Angle of Joint
- Thumb Joint:
- Thumb Joint 0: -33.5° ~ 39°
- Thumb Joint 1: 0° ~ 100°
- Thumb Joint 2: 0° ~ 110°
- Thumb Joint 3: 0° ~ 92°
- Four-Finger Joints:
- Knuckles 0: -22° ~ 22°
- Knuckles 1: 0° ~ 90°
- Knuckles 2: 0° ~ 95°
- Knuckles 3: 0° ~ 81°(Coupling with finger joint 2)
- Thumb Joint:
- Four-Finger Lateral Swing: ±22°
- Fingertip strength: 10N
- Working Voltage: 24V ~ 60V
- Static Current: 58V at 0.2A
- Maximum Current: 58V at 3A
- Communication Interface: USB 2.0
- Working Temperature Range: -20 °C ~ 60 °C
- Load Conditions (Palm facing down at room temperature, grasping a 5cm round hard object): Maximum Weight is 3.5 kg
- Load Condition (Palm facing left at room temperature, grasping a 5cm round hard object): Maximum Weight is 4.5 kg
- Weight: 1000 g
Software functions
- Communication rate: 1000 Hz
- The number of bytes in a full packet
- Sender:1234 bytes
- Receiver:1270 bytes
- Perceptual feedback: Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, imu Data
- Control feedback: Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient