Leadshine DH116 Robotic Dexterous Hand with 11‑DOF and 6‑DOA Control

2.999,00 €
2.999,00 €
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The DH116 series dexterous hand represents Leadshine’s second‑generation mass‑produced robotic hand. Powered by brushless coreless motors and a precision worm‑gear drive system, it delivers 11 degrees of freedom (DoF) with a lightweight 490g design. The hand supports fingertip and palm tactile sensor integration, enabling multi‑dimensional haptic sensing—including normal force, tangential force, and force‑direction feedback.

DH116 Series — Five Key Capabilities

High‑Speed Connectivity

Equipped with 100 MHz EtherCAT for ultra‑fast real‑time haptic feedback and motion control—up to 100× faster responsiveness. Also supports CAN FD and RS485 for broad system interoperability.

High Reliability

Driven by brushless coreless servo motors and enhanced with FOC current control plus a force‑position hybrid algorithm. With 6 built‑in tactile sensors, proximity detection, and soft‑landing control, the DH116 delivers a 1‑million‑cycle gripping lifespan.

Robust Payload Capacity

Supports 30 kg maximum payload for the full hand and 5 kg per finger, enabling stable performance across diverse material‑handling tasks.

Advanced Sensing Capabilities

Comes standard with a 508‑point pressure‑sensor array, with optional multi‑modal tactile sensors for precise multi‑dimensional object perception.

Lightweight Profile

Weighs only 490 g ± 5 g (including sensors), offering high performance without added mass.

Features

  • 6 active brushless slotless motors + 5 passive DoF
  • Hybrid force‑position control with FOC current loop + tactile feedback
  • 6 built‑in tactile sensors for enhanced perception
  • Max load: 30 kg (hook grip)
  • Grip lifespan: 1‑million‑cycle for long‑term durability
  • 20 predefined gestures for rapid deployment
  • Lightweight 490 g total weight
  • Customization supported for specialized applications

Specification

Category Popular Type (DH116C, DH116CEC) Standard Type (DH116, DH116EC) Multimodal Perception Type (DH116S, DH116SEC)
Degrees of Freedom 6 active + 5 passive (Total 11 DoF) 6 active + 5 passive (Total 11 DoF) 6 active + 5 passive (Total 11 DoF)
Weight 490g ± 5g 490g ± 5g 490g ± 5g
Five-Finger Grip Force ≥ 5.5 kg ≥ 5.5 kg ≥ 5.5 kg
Single-Finger Pinch ≥ 1.5 kg ≥ 1.5 kg ≥ 1.5 kg
Full-Hand Payload ≥ 30 kg ≥ 30 kg ≥ 30 kg
Open/Close Speed 0.6 s per cycle 0.6 s per cycle 0.6 s per cycle
Communication CANFD / RS485 CANFD / RS485 CANFD / RS485
(DH116CEC uses EtherCAT) (DH116EC uses EtherCAT) (DH116SEC uses EtherCAT)
Power Supply 12–48 V @ 2 A 12–48 V @ 2 A 12–48 V @ 2 A
Repeatability ± 0.2 mm ± 0.2 mm ± 0.2 mm
Operating Temp & RH −10~40 °C / 85% RH −10~40 °C / 85% RH −10~40 °C / 85% RH
Tactile Sensor None 508-point array pressure sensor 5 multimodal finger sensors + 1 palm 28-point sensor
Control Modes Position / Speed / Current / Hybrid / Smooth Same as left Same as left
Protection Modes Current / Stall / Temperature Same as left Same as left
SDK Support Windows 10+, Linux, Ubuntu, ROS; C++ / Python Same as left Same as left


DoF Distribution

Active Joint Minimum Angle (°) Maximum Angle(°)
Thumb Abduction-Adduction 0 60
Thumb Flexion-Extension 0 30
Index Finger Flexion-Extension 0 80
Middle Finger Flexion-Extension 0 80
Ring Finger Flexion-Extension 0 80
Little Finger Flexion-Extension 0 80

Connectivity Options

PIN No. Wire Color EtherCAT Wiring Definition
① Red VDC
② Green GND
③ Brown EtherCAT RX+
④ White EtherCAT RX-
⑤ Yellow EtherCAT TX+
⑥ Black EtherCAT TX-
PIN No. Wire Color CAN/RS485 Wiring Definition
① Red VDC
② Green GND
⑦ Yellow CANH/RS485+
⑧ Black CANL/RS485-

Recommended Articles

Leadshine DH116 Series Dexterous Hand User Manual

Pack List

  • Leadshine DH116 Robotic Dexterous Hand x 1
  • Communication Interfaces Cable x 1
  • ETH Adapter Cable x 1

Precautions

Safety Instructions

  1. Inspection Upon Unpacking Verify the device’s exterior condition and ensure all components are present.

  2. Tamper Protection Do not disassemble the enclosure or remove tamper-proof labels unless properly trained.

  3. Power Safety Always power off the device before and after installation or commissioning.

  4. Motion Planning Plan the dexterous hand’s motion path carefully and avoid collisions unless explicitly permitted.

  5. Self-Locking Warning Do not manually force movement when the self-locking function is active. The device will auto-reset upon power-on.

  6. Environmental Restrictions Do not operate in corrosive environments (acidic, alkaline, high humidity, dusty, or oil-laden).

  7. Temperature Limits Operating range: 0℃ to 40℃. If exceeded, stop operation and allow natural cooling.


Product Warranty

  • The DH116 series dexterous hand includes a 12-month warranty. During this period, Leadtron will provide necessary component replacement or repair services.
  • Warranty Void Conditions The warranty will be void if the device is damaged due to misuse, unauthorized modification, or operation outside specified conditions.

Compilation Environment

Ubuntu 22.04

ROS2 Humble

ROS 2 requires manual installation: It can be deployed via the one-click installationscript below using wget. wget http://fishros.com/install -O fishros && . fishros

Sample Project Structure

Compilation Steps

1. lhandpro_ws Compilation of the ROS Sample Project

cd lhandpro_ws

colcon build

source install/setup.bash

#Barring unforeseen issues, all components will compile successfully

2. Configure the Environment

# Copy the SO files to the system library directory to facilitate subsequent use

sudo cpsrc/lhandpro_service/thirdparty/lib/libLHandProLib.so /usr/local/lib/

# Refresh the Dynamic Linker Cache

sudo ldconfig

# Grant Raw Socket and Network Management Permissions

sudo set cap cap_net_raw,cap_net_admin+ep

./install/lhandpro_service/lib/lhandpro_service/lhandpro_service

3. handpro_ws/src/ros2_lhandpro.conf and edit the .conf file

# Modify the content of the ros2_lhandpro.conf file to the actual local path

/home/plf/Project/RosProject/lhandpro_ws/install/lhandpro_service/lib

/home/plf/Project/RosProject/lhandpro_ws/install/lhandpro_interfaces/lib

/home/plf/Project/RosProject/lhandpro_ws/install/lhandpro_description/lib

/home/plf/Project/RosProject/lhandpro_ws/install/sequence_demo_cpp/lib

/home/plf/Project/RosProject/lhandpro_ws/install/sequence_demo_py/lib

4. Configure the Execution Environment

# Copy the .conf file to the system directory

sudo cp src/ros2_lhandpro.conf /etc/ld.so.conf.d/

# Refresh the Dynamic Linker Cache

sudo ldconfig

Execute the Control Service

ros2 launch lhandpro_service lhandpro.launch.py

# If there are no configuration errors, the console will normally output thenetwork interface list.

# It will then automatically connect to the default network interface specified inthe code

# Please ensure it matches the actual network interface used for EtherCAT

Once you modify the designated location of the default network interface specifiedin the code, you will need to re-run colcon build

Execute the Sample Control

# Once launched, it will automatically execute the predefined motion sequence

ros2 aunch sequence_demo_py sequence.launch.py

# Or execute the C++version of the sample program

ros2 launch sequence_demo_cpp sequence.launch.py

Execute the RViz2 Simulation Visualization

ros2 launch lhandpro_description display_lhandpro.launch.py

# Running this script will launch the robot_state_publisher node

# Launch the lhandpro_state_publisher node, which is used to monitor angle changesvia the service and publish data to the /joint_states topic for RViz2 to update itsvisualization

# Launch the RViz2 node and load the predefined RViz configuration file

# If the loading completes successfully, the dexterous hand model will be viewablein RViz2

# At this point, running the control sample from Step 4 will display the physicaldexterous hand in motion, with the RViz2 model moving synchronously

Download Resources

URDF

DH116_URDF_Files_2025_11_24.7z

Protocol

Protocol.xlsx

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