The DH116 series dexterous hand 🤖 represents Leadtron’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
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🔩 6 active brushless slotless motors + 5 passive DoF
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🎛️ Hybrid force‑position control with FOC current loop + tactile feedback
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🖐️ 6 built‑in tactile sensors for enhanced perception
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🏋️ Max load: 30 kg (hook grip)
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🔁 Grip lifespan: 600,000 cycles for long‑term durability
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✋ 20 predefined gestures for rapid deployment
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🪶 Lightweight 490 g total weight
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🛠️ 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
Pack List
Leadshine DH116 Robotic Dexterous Hand x 1
Communication Interfaces Cable x 1
Precautions
⚠️ Safety Instructions
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📦 Inspection Upon Unpacking Verify the device’s exterior condition and ensure all components are present.
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🔒 Tamper Protection Do not disassemble the enclosure or remove tamper-proof labels unless properly trained.
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⚡ Power Safety Always power off the device before and after installation or commissioning.
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🧠 Motion Planning Plan the dexterous hand’s motion path carefully and avoid collisions unless explicitly permitted.
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🚫 Self-Locking Warning Do not manually force movement when the self-locking function is active. The device will auto-reset upon power-on.
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☣️ Environmental Restrictions Do not operate in corrosive environments (acidic, alkaline, high humidity, dusty, or oil-laden).
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🌡️ Temperature Limits Operating range: 0℃ to 40℃. If exceeded, stop operation and allow natural cooling.
🛠️ 4.2 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.