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Product Summary
The Leadshine DH116 series dexterous hand is the second-generation mass-produced product developed by Leadtron. Driven by brushless coreless motors and equipped with a worm gear drive system, it offers 11 degrees of freedom (DoF) while maintaining a net weight of 490g. The hand supports the integration of fingertip and palm tactile sensors, enabling multi-dimensional haptic sensing—including normal force, tangential force, and tangential force direction.
The DH116 series dexterous hand is designed with five key capabilities:
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High-Speed Connectivity Equipped with 100MHz EtherCAT, delivering 100× faster real-time haptic feedback and motion control. It also supports CAN FD and RS485 protocols for broad interoperability.
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High Reliability Driven by brushless coreless servo motors, it integrates a FOC (Field-Oriented Control) current loop and a force-position hybrid control algorithm. With 6 tactile sensors as standard, plus proximity sensing and soft landing, it achieves a 1 million-cycle gripping service life.
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Robust Payload Capacity Capable of handling a maximum payload of 30kg for the full hand and 5kg per finger, adapting seamlessly to diverse material handling scenarios.
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Advanced Sensing Capabilities Includes a 508-point array pressure sensor as standard, with optional multi-modal tactile sensors, enabling precise capture of multi-dimensional object data.
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Lightweight Profile Weighs only 490g ± 5g (including sensors), ensuring portability and efficiency.
Technical Specifications
Technical Parameters
| Product Name | DH116 | ||
| Renderings |  |
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| Version | Popular Type | Standard Type | Multimodal Perception Type |
| Model | DH116C DH116CEC |
DH116 DH116EC |
DH116S DH116SEC |
| DoF | 6 active degrees of freedom (DoF) and 5 passive degrees of freedom (DoF), totaling 11 DoF |
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| Weight | 490g ± 5g | ||
| Five-Finger Grip Force | >=5.5kg | ||
| Single-Finger Pinch Force | >=1.5kg | ||
| Full-Hand Payload | >=30kg | ||
| Opening/Closing Speed | 0.6s (One Open-Close Cycle) | ||
| Communication Type | DH116C/DH116/DH116S: CANFD/RS485 DH116CEC/DH116EC/DH116SEC: EtherCAT |
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| Power Supply Specification | 12~48V@2A | ||
| Repeatability | ±0.2mm | ||
| Temperature | -10~40℃/85%RH | ||
| Tactile Sensor | / | 508-point array pressure sensor |
5 finger multimodal sensor, 1 palm 28-point pressure sensor |
| Control Mode | Position Control, Speed Control, Current Control, Force-Position Hybrid Control, and Smooth Control |
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| Protection Mode | Current Protection, Stall Protection, Temperature Protection | ||
| SDK Support | Windows 10 and above/Linux/Ubuntu/ROS, C++/Python | ||
DoF Analysis
| 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 |
Interaction between Passive and Actuated Angles
The Relationship between Passive Angles and Actuated Angles.xls
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- |
Download Resources
URDF
SDK
LHandProLib-API-Linux-20251128.tar.gz
LHandProLib-API-Windows-20251128.7z
XML
Protocol
Debugging Tools(WINDOWS)
Usage Guidelines
Precautions
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Upon unpacking, check the device’s exterior condition and ensure all components are complete.
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Do not disassemble the enclosure or interfere with tamper-proof labels unless you have received proper training.
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Always power off the device before and after installation and commissioning as a standard safety measure.
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Plan the motion path of the dexterous hand carefully and avoid collisions, unless explicitly specified.
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Do not manually force movement when the self-locking function is active; the device will automatically reset upon power-on.
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Do not operate the device in corrosive environments (e.g., acidic/alkaline, high humidity, dusty, or oil-laden atmospheres).
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The device’s operating temperature range is 0℃~40℃. If the temperature exceeds this range, stop operation and allow it to cool naturally.
Product Warranty
The DH116 series dexterous hand is covered by a 12-month warranty. During the warranty period, we shall provide necessary component replacement or repair services. This warranty shall be rendered void if the device incurs defects or damage due to misuse
