What do degrees of freedom (DoF) mean, and what is the difference between active and passive joints?

Degrees of freedom are the number of joints in the hand that can move independently. An active joint is driven by its own motor; a passive or coupled joint follows another joint mechanically. In the Wuji Hand 2, for example, each of the 20 joints is driven independently (4 active joints per finger). In the Unitree Dex5-1, 16 of the 20 degrees of freedom are active and 4 are passive. More active joints let the hand adapt to new grasps, but they also make the control and learning problem larger.

What is the difference between direct-drive, tendon and linkage designs?

In a direct-drive design the motor sits inside the joint and drives it without a gear train or cable; the joint is back-drivable, so an external force can turn it and contact stays soft. In a tendon design the motors sit in the palm or forearm and pull the joints through cables; fingers can be slim, but cable tension and wear need maintenance. In a linkage design one motor moves several joints together mechanically; the structure is robust, but the number of independent joints drops.

Which measures matter when choosing a dexterous hand?

Start with five: active degrees of freedom, weight and size (for humanoid wrists and the arm's payload limit), fingertip force, control rate and interface (Ethernet, CAN, USB, RS485), and software and simulation support (Python or C SDK, ROS 2, URDF and MJCF models). Then decide whether you need tactile sensing, and ask the manufacturer in writing for the mounting interface and the values that are not yet published (wrist load, ingress protection, lifetime).

How is a dexterous hand attached to a humanoid or a robot arm?

The mechanical connection uses a wrist flange and an adapter plate; the manufacturer's STEP file and technical drawing let the adapter be designed. On the electrical side, the power line and communication cable run along the arm. On the software side, the hand is connected through ROS 2 or the SDK so that it runs on the same timeline as the arm controller. For the Wuji Hand 2, the wrist flange, adapter and STEP drawing are published in the manufacturer's wuji-description repository; permitted wrist load and moment values have not been published yet.

Is tactile sensing needed in every project?

No. Most data collection through imitation learning and teleoperation, and most research on in-hand reorientation and grasping with reinforcement learning, run on joint position, joint current and camera data. Tactile sensors matter where a fragile object needs a force limit, slip detection or a contact map. The Wuji Hand 2 currently ships as the 2.2 (Beta) build without fingertip or skin tactile sensing; the Unitree Dex5-1P version offers 94 tactile points.

What is a data glove for?

A data glove measures the operator's hand and finger motion and transfers it to a robot hand (teleoperation); the motion and contact data recorded at the same time is used to train imitation learning and vision-language-action models. The Wuji Glove was designed for this with a 526-point tactile matrix, 5 electromagnetic pose modules and a 6-axis IMU, and it works together with the Wuji Hand 2.

Which hand modules does Unitree offer?

This category lists five Unitree hand modules: the Dex5-S with 22 active degrees of freedom (with a tactile Pro version), the 20-DoF Dex5-1 (with the 94-sensor Dex5-1P version), the three-finger Dex3-1 used with the G1, the 365 g tendon-driven Dex2/5 and the two-jaw Dex1-1 gripper. Robotlar.org is the official distributor of Unitree Robotics in Turkey; the hand modules are quoted with a G1, H2 or R1 or on their own.

How are robot hand prices set?

The price of a dexterous hand depends on the version, the quantity (a single hand or a left and right pair), accessories, the adapter and the integration scope. Robotlar.org does not publish prices in this category; an itemised corporate quotation is prepared. You can send your project definition through the quote form.

How are lead time and sourcing planned?

Unitree hand modules are quoted under the official distributor scope. For Wuji and BrainCo products, supply into Turkey is planned per project; the scope of import, delivery and commissioning is itemised in the quotation. The delivery schedule is stated in the quotation after confirmation from the manufacturer. If your purchasing calendar and specification are defined, we plan the process around them.

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Dexterous Robot Hands

Dexterous hands, a gripper and a teleoperation data glove for humanoids and robot arms: Unitree, Wuji and BrainCo.

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Sort9 models · 3 brandsFilter in catalogue

9 models · 3 brandsFilter

UnitreeDex5-S

Five-Finger Dexterous Robot Hand (22 Active DoF)

2 kg

2kg

0.6kg

UnitreeDex5-1

Five-Finger Dexterous Robot Hand (20 DoF, Tactile Version)

3.5 kg

3.5kg

1.1kg

UnitreeDex3-1

Three-Finger Force-Controlled Robot Hand

0.5 kg

0.5kg

0.7kg

UnitreeDex2/5

Lightweight Tendon-Driven Five-Finger Robot Hand

1.5 kg

1.5kg

0.4kg

UnitreeDex1-1

Two-Jaw Parallel Gripper (Not a Hand)

20 kg

20kg

0.6kg

WujiHand 2

Five-Finger Dexterous Robot Hand (Direct Drive)

0.8kg

WujiGlove

Teleoperation and Data Collection Glove

0.1kg

BrainCoRevo 2

Lightweight Five-Finger Robot Hand (6 Active, 11 DoF)

20 kg

20kg

0.4kg

BrainCoRevo 3

Five-Finger Dexterous Robot Hand (21 Active, Direct Drive)

20 kg

20kg

What Is a Dexterous Robot Hand and How Do You Choose One?

A dexterous robot hand is an end effector with a human-like finger structure that can do more than hold an object: it can turn it between the fingers and change the grasp. It mounts on a humanoid's wrist or on a robot arm's flange, and in research labs it is the physical end of imitation learning, reinforcement learning and vision-language-action model work. This page lists Unitree's hand modules (the Dex5-S, Dex5-1, Dex3-1, Dex2/5 and the two-jaw Dex1-1 gripper), the Wuji Hand 2 with the Wuji Glove data glove that drives it, and BrainCo's Revo 2 and Revo 3 hands.

Four measures decide the choice. First, degrees of freedom: an active joint turns with its own motor, a passive joint follows another joint; more active joints mean better adaptation to new grasps. Second, drive type: in a direct-drive design the motor sits inside the joint and the joint is back-drivable, so contact stays soft; in a tendon design the motors sit in the palm or forearm and cables pull the joints; in a linkage design one motor moves several joints together. Third, weight and interface: the humanoid wrist and the arm's payload limit set the hand's mass, and the controller sets the communication line (Ethernet, EtherCAT, CAN FD, RS-485, USB). Fourth, software: the SDK language, a ROS 2 package and URDF, MJCF or USD models shorten the path from simulation to the real hand.

Robotlar.org is the official distributor of Unitree Robotics in Turkey; Unitree hand modules are quoted under the official distributor scope. The Dex5-S launch video and its place in the Unitree hand family are covered in the Unitree Dex5-S guide. For Wuji and BrainCo products, Robotlar.org provides enterprise sourcing, technical specification support and integration engineering; supply into Turkey is planned per project, and the scope of import, delivery and commissioning is itemised in the quotation. Wuji pricing and sourcing are explained on the Wuji Hand 2 price and sourcing page.

Compare dexterous hands: published values

Measure	Unitree Dex5-S	Unitree Dex5-1	Unitree Dex3-1	Wuji Hand 2	BrainCo Revo 2	BrainCo Revo 3
Degrees of freedom	22, all active	20 (16 active, 4 passive)	7, three fingers	20, all active	11 (6 active)	21, all active
Drive	22 direct-drive motors, back-drivable	12 force-controlled and 4 geared micro joints, back-drivable	6 direct-drive and 1 geared joint	Fully direct drive, back-drivable	6 motors; transmission details not published	Direct drive, back-drivable
Weight	620 g	1,100 g	710 g	About 800 g (bare hand 650 g)	383 g (without wrist)	Not published
Force	Not published	Fingertip 10 N	Not published	Fingertip 12 N or more (provisional)	Grip 50 N or more, pinch 15 N or more	Grip 100 N or more, pinch 25 N or more
Load (maker's definition)	Peak 2 kg, continuous 1 kg	3.5 kg palm down, 4.5 kg palm sideways	500 g	Not published	Whole hand 20 kg or more	Whole hand 20 kg, four fingers 5 kg
Tactile sensing	On the Pro version (count not published)	94 sensors (Dex5-1P)	33 sensors (optional)	None in the shipping 2.2 (Beta) build	Touch: 3D force per finger	U21F, U21T (451 points), U21VT
Communication and control	2 x T1s Ethernet, RS-485, USB; 1000 Hz	USB 2.0, 1000 Hz	USB 2.0, 1000 Hz	Ethernet 100BASE-TX, 1000 Hz	RS485, CAN FD; EtherCAT on Pro and Touch	EtherCAT, CAN FD, RS-485; 500 Hz
Supply	15 to 65 V	24 to 60 V	12 to 58 V	11 to 13 V DC	12 to 28 V (Basic), 12 to 64 V	16 to 85 V
Supply in Turkey	Official distributor	Official distributor	Official distributor	Enterprise sourcing	Enterprise sourcing	Enterprise sourcing

Sources: Unitree Dex5-S, Dex5-1 and Dex3-1 product pages, the Wuji Hand 2.2 (Beta) documentation (docs.wuji.tech) and the BrainCo RevoLimb documentation, 13 November 2026. Load values are defined differently by each maker (peak load per hand, palm direction, whole-hand load) and should not be compared directly. Wuji states that the Hand 2 documentation describes a Beta build that is not final. The Unitree Dex2/5 and the Dex1-1 gripper are on their own pages.

Hand options on Booster and DEEP Robotics robots

Booster has no hand of its own. The Booster T2 documentation lists, alongside the standard boxing hand, these end effectors as factory-installed options: the Inspire EG2-5CD14-T1 servo electric two-finger gripper, the BrainCo Revo 2 and Revo 3, the Wuji Hand 2 and the Sharpa Wave W01. Optional end effectors are installed, wired, configured and tested at the factory. Which hand ships with which T2 version, and any retrofit kit, are not documented; the choice is written into the T2 quotation's configuration. Robotlar.org is the official distributor of Booster Robotics in Turkey.

DEEP Robotics has no hand of its own either. In the DEEP Robotics DR02 family only the DR02 Pro specification table gives the end effector as "gripper / dexterous hand (multiple options)"; the maker, model, degrees of freedom and weight are not published. The standard DR02 has no end effector row. The hand option is confirmed in writing with the manufacturer within the project.

Sources: Booster T2 product manual, end effector page (docs.booster.tech) and the DEEP Robotics DR02 Pro product page (deeprobotics.cn), 13 November 2026.