TechniaHQRobot logoTechniaHQRobot
Hardware

Humanoid Hand and Gripper Architecture

Ten hand and gripper configurations are compared through their documented attributes, without a universal dexterity score.

Source observations through 2026-10-11. Analysis revised separately.Open all humanoid data charts

Data summary

What is included

Ten hand and gripper configurations are compared through their documented attributes, without a universal dexterity score.

Visible rows

10

Dataset scope

TechniaHQRobot source-linked dataset

Interactive infographic

Humanoid Hand and Gripper Architecture

Ten hand and gripper configurations are compared through their documented attributes, without a universal dexterity score.

  1. Unitree G1 EDU with Dex3-1

    Fingers
    3
    Joints
    7
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    Force-position hybrid control
    Tactile sensors
    Optional fingertip tactile arrays

    Thumb has 3 active DoF; index and middle fingers have 2 each.

    Read source ↗

  2. Unitree G1-D two-finger gripper

    Fingers
    2
    Joints
    Not recorded
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    Gripper
    Tactile sensors
    Not recorded

    Listed as an interchangeable end-effector option.

    Read source ↗

  3. Unitree G1-D three-finger dexterous hand

    Fingers
    3
    Joints
    Not recorded
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    Dexterous hand
    Tactile sensors
    Available with or without tactile sensing

    Official page lists tactile and non-tactile variants.

    Read source ↗

  4. Unitree G1-D five-finger dexterous hand

    Fingers
    5
    Joints
    Not recorded
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    Dexterous hand
    Tactile sensors
    Not recorded

    Joint and actuator counts are not disclosed on the cited page.

    Read source ↗

  5. Booster T1 gripper configuration

    Fingers
    Not recorded
    Joints
    1
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    One-DoF gripper per hand
    Tactile sensors
    Not recorded

    Finger count and force are not disclosed on the cited page.

    Read source ↗

  6. Booster T1 dexterous-hand configuration

    Fingers
    Not recorded
    Joints
    6
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    Six-DoF dexterous hand per side
    Tactile sensors
    Not recorded

    Finger count and actuator architecture are not disclosed on the cited page.

    Read source ↗

  7. Figure 03 hand

    Fingers
    5
    Joints
    Not recorded
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    Five-finger dexterous hand
    Tactile sensors
    Fingertip tactile sensing

    Palm cameras and compliant fingertips are documented; joint count and actuation architecture are not public.

    Read source ↗

  8. Fourier GR-2 dexterous hand

    Fingers
    Not recorded
    Joints
    12
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    Not recorded
    Drive type
    Twelve-DoF dexterous hand
    Tactile sensors
    Six tactile array sensors

    Finger and actuator counts are not stated on the cited product page.

    Read source ↗

  9. Reachy 2 default gripper

    Fingers
    2
    Joints
    1
    Joint-count scope
    Per hand or gripper; wrist excluded
    Wrist DoF (separate)
    Not recorded
    Actuators
    1
    Drive type
    Dynamixel-driven parallel gripper
    Tactile sensors
    Not recorded

    Interchangeable fingertip geometries; 100 mm maximum opening.

    Read source ↗

  10. 1X NEO hand (2026)

    Fingers
    5
    Joints
    22
    Joint-count scope
    22 active DoF in fingers and palm; wrist excluded
    Wrist DoF (separate)
    3
    Actuators
    Not recorded
    Drive type
    Tendon-driven hand
    Tactile sensors
    Tactile sensing stack documented

    1X specifies 22 active DoF in the fingers and palm plus 3 wrist DoF, totaling 25. Motor count is not inferred from the DoF count.

    Read source ↗

Accessible data table

The table contains the same source-linked records used by the chart. It is the reference when labels overlap or a visual scale compresses values.

Source-linked data used in the infographic
RobotFingersJointsJoint-count scopeWrist DoF (separate)ActuatorsDrive typeTactile sensorsInterchangeableRecord notesEvidenceSource
Unitree G1 EDU with Dex3-137Per hand or gripper; wrist excludedNot recordedNot recordedForce-position hybrid controlOptional fingertip tactile arraysYesThumb has 3 active DoF; index and middle fingers have 2 each.Official specificationUnitree G1 official product pageChecked 2026-07-31
Unitree G1-D two-finger gripper2Not recordedPer hand or gripper; wrist excludedNot recordedNot recordedGripperNot recordedYesListed as an interchangeable end-effector option.Official specificationUnitree G1-D official product pageChecked 2026-07-31
Unitree G1-D three-finger dexterous hand3Not recordedPer hand or gripper; wrist excludedNot recordedNot recordedDexterous handAvailable with or without tactile sensingYesOfficial page lists tactile and non-tactile variants.Official specificationUnitree G1-D official product pageChecked 2026-07-31
Unitree G1-D five-finger dexterous hand5Not recordedPer hand or gripper; wrist excludedNot recordedNot recordedDexterous handNot recordedYesJoint and actuator counts are not disclosed on the cited page.Official specificationUnitree G1-D official product pageChecked 2026-07-31
Booster T1 gripper configurationNot recorded1Per hand or gripper; wrist excludedNot recordedNot recordedOne-DoF gripper per handNot recordedYesFinger count and force are not disclosed on the cited page.Official specificationBooster T1 official product pageChecked 2026-07-31
Booster T1 dexterous-hand configurationNot recorded6Per hand or gripper; wrist excludedNot recordedNot recordedSix-DoF dexterous hand per sideNot recordedYesFinger count and actuator architecture are not disclosed on the cited page.Official specificationBooster T1 official product pageChecked 2026-07-31
Figure 03 hand5Not recordedPer hand or gripper; wrist excludedNot recordedNot recordedFive-finger dexterous handFingertip tactile sensingNot recordedPalm cameras and compliant fingertips are documented; joint count and actuation architecture are not public.Official specificationFigure Helix 02 official technical articlePublished 2026-01-27Checked 2026-07-31
Fourier GR-2 dexterous handNot recorded12Per hand or gripper; wrist excludedNot recordedNot recordedTwelve-DoF dexterous handSix tactile array sensorsNot recordedFinger and actuator counts are not stated on the cited product page.Official specificationFourier GR-2 official product pageChecked 2026-07-31
Reachy 2 default gripper21Per hand or gripper; wrist excludedNot recorded1Dynamixel-driven parallel gripperNot recordedYesInterchangeable fingertip geometries; 100 mm maximum opening.Official specificationPollen Robotics Reachy 2 gripper specificationsChecked 2026-07-31
1X NEO hand (2026)52222 active DoF in fingers and palm; wrist excluded3Not recordedTendon-driven handTactile sensing stack documentedNot recorded1X specifies 22 active DoF in the fingers and palm plus 3 wrist DoF, totaling 25. Motor count is not inferred from the DoF count.Official announcement1X official NEO hands articlePublished 2026-07-09Checked 2026-10-11

Methodology

How the dataset is built

Finger, joint and actuator counts are separate fields. A missing actuator count is not inferred from joint count. Tactile sensing is recorded only when the manufacturer explicitly documents it.

Editorial analysis

A finger count is only the starting point

The records include simple grippers and five-finger hands. A two-finger parallel gripper can be appropriate for a repeatable pick, while an articulated hand supports other grasp shapes. The table describes the available mechanisms rather than declaring one format universally better.

Joints and actuators answer different questions

A hand may have more moving joints than motors. Coupled or passive motion affects what can be commanded independently. Where actuator counts are missing, they cannot be recovered by copying the number of joints.

Match sensing to the object

Tactile coverage may help detect contact or slip, but the number of sensing areas is not a manipulation success rate. Consider the object’s shape, surface, required force and acceptable damage. Interchangeable hands also need compatible mechanical, electrical and software interfaces.

Frequently asked questions

Can joint count measure hand dexterity by itself?

No. Independent actuation, range, force, sensing and control all affect what the hand can do.

Sources

Related humanoid infographics

Robot Mass vs PayloadDegrees of Freedom by Body RegionHumanoid Robot Sensor StackHumanoid Robot Hardware Stack

Continue with the source-linked humanoid catalog

Open individual robot records for manufacturer, origin, dimensions, availability, public price status and official product links.

Browse humanoid robotsRead the main guide