Descripción

Características clave:

• Force and Position Hybrid Control: The Dex3-1 combines force and position control, allowing for sensitive and reliable interaction with objects. This hybrid approach enables the robot to simulate the delicate and precise operations of a human hand.
• 7 Degrees of Freedom (DoF): Each Dex3-1 hand boasts 7 degrees of freedom, distributed across its three fingers:
  • Thumb: 3 active degrees of freedom.
  • Index Finger: 2 active degrees of freedom.
  • Middle Finger: 2 active degrees of freedom.
• Integrated Tactile Sensing: Equipped with 33 tactile sensors per hand, the Dex3-1 can collect rich contact data, providing the robot with a sense of touch for enhanced manipulation and grip stability. An optional tactile sensor array can be installed for even greater sensory feedback.
• High Precision Actuation: The hand utilizes 6 micro brushless force-control joint direct drives and 1 micro brushless force-control joint gear drive, ensuring precise and responsive movements.
• Compact and Lightweight Design: Weighing approximately 710g and with dimensions of 175mm x 88mm x 77mm, the Dex3-1 is designed for seamless integration with the Unitree G1 without compromising the robot’s overall agility.
• Wide Range of Motion: Each joint offers a substantial range of motion, allowing the hand to execute a diverse array of grasping and manipulation patterns (e.g., pinch, power, tripod, hook grasp).
• Robust Load Capacity: Capable of grasping objects up to 500g, the Dex3-1 is suitable for a variety of object handling scenarios.
• Comprehensive Feedback and Control: Provides extensive perceptual feedback including joint mode, position, velocity, torque, temperature, sensor pressure, and IMU data. It also supports granular control feedback for joint mode, position, velocity, torque, stiffness, and damping coefficients.
• High Communication Rate: With a communication rate of 1000Hz, the Dex3-1 ensures real-time responsiveness and control.
• Versatile Applications: Ideal for humanoid robotics research, AI tactile learning and interaction experiments, robotic manipulation simulation, object handling, dexterity benchmarking, and autonomous grasping algorithm development.

The Dex3-1 Force-Controlled Three-Finger Dexterous Hand transforms the Unitree G1 into a highly capable and versatile platform for advanced robotic manipulation, opening up new possibilities for research, development, and real-world applications.