The Unitree Dex5-1 is a high-DOF dexterous hand with 20 degrees of freedom (16 active plus 4 passive) across 5 independently replaceable fingers, weighing 1,100 g and measuring 217.3 by 127.5 by 72.1 mm. Each finger has independent joints with ±22-degree four-finger lateral swing for improved grip reliability on curved surfaces. It features 12 self-developed micro force-controlled composite transmission joints plus 4 micro force-controlled joint gear transmissions with low-damping small-clearance reducers and micro-gap design for smooth backdrivability. The thumb has 4 DOF, each other finger has 3 DOF, with fingertip strength of 10 N per finger and ±1 mm repeat positioning accuracy. The Dex5-1P variant adds 94 tactile sensors (12 pressure sensors) with 10 g to 2,500 g perception range. Communication is via USB 2.0 at 1,000 Hz. It operates on 24 to 60 V at 0.2 A static and 4 A maximum current. Load capacity is 3.5 kg palm-down and 4.5 kg palm-left grasping a 5 cm object. Working temperature is -20 to 60 degrees C. Targets research and industrial manipulation.