Robot Hands and Grippers for Humanoids: 2026 Buyer's Guide

A humanoid robot ships with a body. What it can actually do with its arms depends on what you bolt to the wrist, and that choice is sold separately, priced per hand, and easy to get wrong. A two-finger gripper is enough for pick-and-place and teleoperation data collection. A tactile dexterous hand is what you need for research on in-hand manipulation, tool use, and anything a human would do with their fingers. The difference is anywhere from a few hundred dollars to over fifty thousand per pair.

This guide walks through every hand and gripper we sell for humanoids, which robots each one fits, what the specs mean in practice, and which one to pick for your program. Prices are per hand unless noted; most humanoids need two.

The four kinds of robot hand

Every end effector on the market falls into one of four groups. Decide which group you are in before you compare models.

Specs that matter and what they mean

Hand spec sheets lean on a handful of numbers. Here is how to read them.

Degrees of freedom (DoF). The number of joints the hand can move. Active DoF are motor-driven; passive DoF follow along mechanically. A two-finger gripper has one. The OmniHand 3 Lite-S has 4 active and 7 passive. The OmniHand 2025 has 16, the Pro has 19, the Ultra-M has 20 active, and the human hand has about 27. More DoF means more grasp types but more weight, more cost and more to control.

Weight. The hand hangs off the end of the arm, so its mass comes straight out of the arm's payload. On a humanoid like the X2 that matters: a 510 g OmniHand leaves most of the payload for the object. An 820 g Pro is still fine; a hand over a kilogram starts to limit what the robot can lift.

Fingertip force and load. Fingertip force (the OmniHand Pro is rated 20 N) sets how hard the hand can pinch. Load (5 kg on the OmniHand 2025, 8 kg lift on the Ultra-M) sets what it can hold with a full grasp. Grippers quote clamping force instead: 5 to 120 N on the Dex1-1, 40 to 140 N on the Titan Picker.

Tactile sensing. A count of pressure-sensing points (taxels) and their sensitivity. The OmniHand Tactile has 300+ taxels at 0.1 N resolution; the Ultra-M adds 3D palm sensing. If you are doing reinforcement learning or imitation learning on grasping, you want this. If you are doing pick-and-place or teleoperation demos, you do not.

Interface. CAN-FD, RS-485 and Ethernet are all wired. None of the hands in this guide carry a radio, which keeps them simple for site approval and outside FCC radio equipment rules.

Mounting. The quiet spec. Every hand needs a mechanical and electrical interface to the wrist, and it is not universal. We confirm the wrist interface for your robot before quoting any hand.

Every hand we sell, side by side

Prices are per hand or per gripper. A humanoid normally needs two. Pair prices are listed where we sell them that way.

Specifications from the manufacturers' published documentation as listed on our product pages. The OmniHand 3 Ultra-T (22 DoF plus a 3-DoF wrist) and the AgiBot OmniPicker gripper are coming; ask us for availability.

AgiBot OmniHand family

AgiBot sells more hand configurations than anyone else we carry, from a $999 half-scale hand to a $26,999 flagship. They share a design goal: high DoF at a weight a humanoid wrist can carry. The 2025 generation (OmniHand 2025, Tactile, Pro) is shipping now; the OmniHand 3 generation (Lite-S, Ultra-M, Ultra-T) is on pre-order.

AgiBot OmniHand 2025

$4,999 per hand, $9,998 pair

16 DoF510 g5 kg loadCAN-FD / RS485

• The volume dexterous hand: 16 degrees of freedom in a 510 g package, compact enough to hang off a humanoid wrist without eating the arm's payload.
• Cross-platform: designed for humanoids and robotic arms from multiple manufacturers, not just AgiBot.
• Pick this for teaching labs, demos and manipulation development where you need five fingers but not touch sensing.

Left, right or both; sold as a pair for a humanoid.

AgiBot OmniHand Tactile

$6,399 per hand, $12,798 pair

16 DoF510 g300+ taxels0.1 N resolution

• The OmniHand 2025 with tactile sensing across fingers and palm: 300+ sensing points at 0.1 N resolution.
• Same weight and DoF as the standard hand, so it fits anywhere the OmniHand 2025 fits.
• Pick this for grasp-learning research and any program collecting force data, for $1,400 more per hand.

AgiBot OmniHand Pro

$15,999 per hand

19 DoF820 g20 N fingertipTactile palm and fingers

• The flagship of the 2025 generation: 19 degrees of freedom, 20 N fingertip force, and a ridged tactile surface on the palm and fingers.
• Graphite finish with the O12 badge at the wrist; specified as compatible with mainstream robots and arms.
• Pick this for in-hand manipulation and tool-use research, where fingertip force and touch both matter.

AgiBot's own OmniHand Pro 2025 introduction: grasp taxonomy, tool use, force control and tactile sensing demos.

AgiBot OmniHand 3 Lite-S

$999 per hand, $1,998 pair (pre-order)

4 active + 7 passive DoF350 g1 kg loadDex-UMI compatible

• The smallest and cheapest five-finger hand we sell. Half-scale humanoids, mobile manipulators and desktop development arms usually have to settle for a two-finger gripper because a full-size dexterous hand will not fit the wrist or the payload budget. The Lite-S fits.
• Dex-UMI compatible with an open-source kit and toolchain per the manufacturer brochure.
• Pick this for small platforms and student projects where a human-like hand matters more than force.

AgiBot OmniHand 3 Ultra-M

$26,999 per hand, $53,998 pair (pre-order)

20 active DoF630 g8 kg lift3D tactile, 300 taxels±0.2 mm

• The top of the AgiBot range: 20 active degrees of freedom at 630 g, 3 kg stable load and 8 kg lift, with 3D palm tactile sensing and ±0.2 mm repeatability.
• CAN-FD, RS485 and Ethernet interfaces, all wired; 500k validated cycles with simulation support.
• Pick this for flagship research programs. If you want tendon-driven dexterity with a three-axis wrist instead, ask about the OmniHand 3 Ultra-T.

AgiBot Swift Picker and Titan Picker

These are not research hands. They are industrial two-finger grippers built for the AgiBot Genie G2 mobile manipulator, rated for 2 million cycles, and sold on force, speed and environment rather than dexterity. AgiBot lists compatibility with the Genie G2 High-Compute and Standard editions only.

AgiBot Swift Picker

$2,999

10 to 95 N90 mm stroke0.25 s closeIP402M cycles

• Built for speed: 0.25 s full-stroke close with a 90 mm opening, adjustable 10 to 95 N clamping force.
• IP40, CAN-FD; no power-off holding, so it releases if power drops.
• Pick this for fast bin-picking and light assembly on a G2 in a clean indoor space.

AgiBot Titan Picker

$3,499

40 to 140 N50 mm stroke0.75 s closeIP67Power-off holding

• Built for grip: 40 to 140 N clamping force with power-off holding, so the part stays held if the robot loses power.
• IP67 sealed, 50 mm stroke, 2 million cycles.
• Pick this for heavier parts, wet or dusty environments, and anywhere dropping the payload on power loss is unacceptable.

Unitree Dex1-1 and dexterous hands

Unitree takes the opposite approach to AgiBot: a very cheap two-finger gripper in three camera tiers for the G1, and a tendon-driven five-finger hand for the Edu configurations. Every unit is user-installed with factory instructions and carries a 12-month manufacturer warranty through Unitree's authorized US distribution.

Unitree G1 Dex1-1 Gripper (Standard)

$380 per gripper

Two-fingerRS-485D405 bracket includedUser-installed

• The entry point into manipulation on the G1: a parallel-jaw gripper with the 485-to-USB board, cables and a D405 camera bracket (camera not included).
• Supports secondary development; also sold as a repair part.
• Pick this for pick-and-place experiments and tool handling where you already own cameras or do not need a wrist view.

Unitree G1 Dex1-1 Gripper (Advanced)

$580 per gripper

143 x 78 x 67 mm550 g90 mm stroke5 to 120 N20 kg conformal

• The same gripper plus a 160-degree wrist RGB camera on a dedicated mount, which is what makes it the common choice for teleoperation rigs and imitation-learning data collection.
• 0.1 mm tip position resolution, 0.24 s minimum full-stroke close, 20 kg conformal and 5 kg friction gripping load.
• The same Dex1-1 V2 gripper is also a factory hand option on the R1-A5 and R1-A7 dual-arm robots.

Unitree G1 Dex1-1 Gripper (Ultimate)

$1,080 per gripper

Two-fingerRGB cameraD405 depth camera includedRS-485

• The only tier that ships with both the wrist RGB camera and the Intel RealSense D405 depth camera on its mount, so vision-guided grasping works out of the box.
• Pick this if you are building a data-collection or vision-guided grasping rig and do not already own D405 cameras.

Unitree G1 Tendon-Driven Dexterous Hand

A five-finger hand with tendon-cable actuation and no external wiring between the hand and the arm. It is the manipulator that ships in pairs on the factory G1 Edu Ultimate G configuration, and it is offered as a factory hand option on the R1-A5 and R1-A7. No tactile feedback. Listed at $1,490 per hand; it is quoted with a G1 Edu configuration rather than sold alone, so ask us if you want it on a robot order.

Unitree's G1 humanoid. The Dex1-1 grippers and tendon-driven hands are the two hand options for this platform.

Which hand fits which robot

Compatibility is the first filter, before price. This is what the manufacturers publish; mounting is still confirmed per order.

Which hand to buy for your program

How buying works

1. Tell us the robot and the task. Which platform the hand mounts to, what it needs to pick up, and whether anyone will program it. We will tell you which hand fits, including when the cheaper one is the right answer.
2. Get a formal written quote. Itemized hands, robot if ordered together, freight to your address and any applicable state sales tax, with confirmed lead time. Quotes are valid for 60 days.
3. Paperwork. We send a W-9 and complete vendor setup forms for schools, agencies and companies. Tax-exempt buyers send a certificate and we remove the tax line.
4. Payment. ACH or wire on acceptance, with card available. If your organization issues a purchase order, we reference it on the invoice. The order is placed as soon as payment clears.
5. Delivery and handover. Freight to your door with tracking, plus remote setup help so your team is running on day one.

Frequently Asked Questions

Do I need one hand or two?
Two for a humanoid, one per arm. Prices in this guide are per hand or per gripper unless a pair price is shown.

Will an AgiBot OmniHand fit a non-AgiBot robot?
AgiBot designs the OmniHand family for compatibility with humanoids and robotic arms across manufacturers, and the Pro is specified as compatible with mainstream robots and arms. Mounting is not universal, so we confirm your wrist interface before quoting.

Can I put an OmniHand on a Unitree G1?
Not as a supported configuration. The G1 uses Unitree's own Dex1-1 grippers and tendon-driven hand. If you have a custom wrist adapter project in mind, tell us and we will ask AgiBot.

What is the difference between the OmniHand 2025 and the OmniHand Tactile?
Same 16-DoF, 510 g hand. The Tactile adds 300+ pressure-sensing points at 0.1 N resolution across the fingers and palm for $1,400 more per hand.

Do the hands need FCC authorization?
The hands in this guide use wired CAN-FD, RS-485 or Ethernet interfaces and carry no radio, so the FCC equipment authorization rules for radio devices do not apply to the hand itself. The robot they mount to is a separate question; see our AgiBot FCC guide.

Are the Swift and Titan Picker available for other robots?
AgiBot lists compatibility with the Genie G2 High-Compute and Standard editions only.

What warranty do hands carry?
Unitree Dex1-1 grippers and hands carry a 12-month manufacturer warranty through Unitree's authorized US distribution. AgiBot hand warranty terms are stated on each product page and in your quote.

Can I install the hand myself?
Unitree grippers and hands are user-installed with factory instructions, which Unitree describes as simple. AgiBot hands are fitted at order time on the X2 Ultra, and we include remote setup help on every order.

Keep Exploring

Prices and specifications current as of October 2026 and subject to change. Global Drone HQ is an authorized reseller of AgiBot and Unitree robots. Ask for a written quote for current pricing and lead times.