Home Leadshine DH116 Robotic Dexterous Hand with 11‑DOF and 6‑DOA Control (Delivery period 1-3 weeks)

Leadshine DH116 Robotic Dexterous Hand with 11‑DOF and 6‑DOA Control (Delivery period 1-3 weeks)

SKU: Leadshine-DH116-LE
Hand: Left
Sensor: Sensorless
Interface: EtherCAT
Sale price €2.199,00
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Guarantee & Return Policy

Effective Date: December 10, 2025

At OpenELAB, we are committed to providing accurate product descriptions and high-quality electronics. The following policy outlines your rights and obligations, designed to be fair to both our customers and our business operations globally.

1. Warranty Policy

A. Standard Limited Warranty (Global & US)

For customers in the United States, Asia, and other non-EU regions:

  • Warranty Period: OpenELAB provides a 12-month warranty from the date of delivery.

  • Coverage: This warranty covers defects in material and workmanship under normal use.

  • Resolution: We will repair or replace defective units at no charge.

B. Statutory Rights for EU/UK Customers (EU Compliance)

If you are a consumer residing in the European Union or the UK purchasing from our global site:

  • Statutory Guarantee: You are entitled to a 24-month statutory guarantee for conformity defects present at the time of delivery, in accordance with EU consumer protection laws.

  • Relation: The Standard Limited Warranty (Section 1.A) applies in addition to, and does not replace, your statutory rights.

C. Warranty Exclusions (Applies to ALL Regions)

Warranty coverage is VOID if the damage is caused by:

  1. Misuse: Incorrect installation, reverse polarity, or exceeding voltage limits.

  2. Unauthorized Modification: This explicitly includes soldering, cutting pins, modifying the PCB, or flashing unauthorized/beta firmware that "bricks" the device.

  3. Physical Damage: Drops, moisture/water damage, or electrical surges (lightning).

  4. Normal Wear & Tear: Consumable parts (e.g., batteries), unless defective upon arrival.

Note: For non-warranty repairs (e.g., customer-induced damage), we may offer repair services for a fee. Shipping and diagnostic costs will be borne by the customer.

2. Return & Refund Policy

A. Return Window

  • Standard: You may request a return within 30 days of receiving your order.

  • EU Customers: You have the statutory right to withdraw from the contract within 14 days of receipt without giving a reason.

B. Refund Conditions & Restocking Fees

To protect against policy abuse, the refund amount is strictly determined by the condition of the returned item.

1. Full Refund (100%)

  • The item is Brand New, Unopened, and Unused.

  • The original packaging is intact and sealed.

  • All accessories are present.

2. Partial Refund (Restocking Fee / Value Depreciation)
If the item is returned in a condition that prevents it from being sold as new, OpenELAB reserves the right to deduct a Restocking Fee (or "Compensation for Loss of Value" for EU customers) from the refund.
Deductions apply if:

  • Signs of Use: Visible scratches, mounting marks on screw holes, or fingerprints.

  • Damaged Packaging: Original box is torn, written on, or missing.

  • Technical Modification: The device has been powered on, programmed/flashed, or soldered.

  • Broken Seals: Anti-static bags or security seals have been opened.

Depending on the severity of the usage/damage, the deduction may range from 15% to 50% of the product price. Items damaged beyond repair due to misuse will not be refunded.

C. Shipping Costs

  • Defective / Wrong Item: OpenELAB covers the return shipping cost.

  • Customer Remorse (Changed Mind / Ordered Wrong Item): The customer is responsible for all return shipping costs to our designated return center (located in the US, Germany, or China, depending on your region). Original shipping fees are non-refundable unless required by local law.

3. Return Process (RMA)

To ensure a smooth return process, please follow these steps:

  1. Authorization: Contact us at info@openelab.io before returning any item. Returns without prior authorization will not be accepted.

  2. RMA Number: We will provide you with a Return Merchandise Authorization (RMA) number and the correct return address.

  3. Packing: Ship the item back in its original packaging with the RMA number clearly marked on the shipping label (not on the product box).

  4. Tracking: We strongly recommend using a trackable shipping method. OpenELAB is not responsible for returns lost in transit.
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Leadshine DH116 Robotic Dexterous Hand with 11‑DOF and 6‑DOA Control (Delivery period 1-3 weeks)

Leadshine DH116 Robotic Dexterous Hand with 11‑DOF and 6‑DOA Control (Delivery period 1-3 weeks)

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

1. General Shipping Information

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2. Shipping Rates & Options

Our shipping rates are calculated based on the order value and destination. Please refer to the tables below for details.

2.1 Germany (Domestic)

Shipping Method Order Value Cost Est. Delivery
Deutsche Post €0 - €50.00 €4.95 2-4 Business Days
Deutsche Post Over €50.00 Free 2-4 Business Days
DHL Paket
(Faster Delivery)		 €0 - €50.00 €6.95 1-3 Business Days
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(Faster Delivery)		 €50.00 - €100.00 €2.00 1-3 Business Days
DHL Paket
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2.2 European Union (EU)*

*Including:

Åland Islands, Andorra, Austria, Belgium, Bosnia & Herzegovina, Bulgaria, Croatia, Czechia, Denmark, Estonia, Faroe Islands, Finland, France, Gibraltar, Greece, Guernsey, Hungary, Ireland, Isle of Man, Italy, Jersey, Latvia, Lithuania, Luxembourg, Malta, Moldova, Monaco, Montenegro, Netherlands, North Macedonia, Poland, Portugal, Romania, San Marino, Serbia, Slovakia, Slovenia, Spain, Svalbard & Jan Mayen, Sweden.*
Shipping Method Order Value Cost Est. Delivery
Deutsche Post €0 - €100.00 €7.95 5-9 Business Days
Deutsche Post Over €100.00 Free 5-9 Business Days
DHL Paket
(Faster Delivery)		 €0 - €100.00 €15.95 3-7 Business Days
DHL Paket
(Faster Delivery)		 €100.00 - €250.00 €7.95 3-7 Business Days
DHL Paket
(Faster Delivery)		 Over €250.00 Free 3-7 Business Days

2.3 United States

Region Shipping Method Order Value Cost Est. Delivery
Continental U.S.
(50 States)		 USPS Ground Advantage €0 - €45.00 €5.95 3-7 Business Days
USPS Ground Advantage Over €45.00 Free 3-7 Business Days
USPS Priority Mail €0 - €45.00 €16.95 1-4 Business Days
USPS Priority Mail Over €45.00 €14.95 1-4 Business Days
Non-Continental U.S.
(AK, HI, PR, etc.)		 USPS Ground Advantage €0 - €60.00 €6.95 5-9 Business Days
USPS Ground Advantage Over €60.00 Free 5-9 Business Days

* The regions in the Non-Continental U.S. include: Alaska, American Samoa, Guam, Hawaii, the Marshall Islands, the Northern Mariana Islands, Palau, Puerto Rico, the U.S. Virgin Islands, and all U.S. Armed Forces addresses. The shipping and delivery to these areas are subject to the Non-Continental U.S. shipping rules.

2.4 International (Outside EU)

For specific international destinations, including Switzerland, United Kingdom, and Norway.

Order Amount Shipping Cost
€0 - €300.00 €19.95
Over €300.00 Free

Important Notice:

  • Inventory Status: Please check the inventory status on the product page. Our system displays real-time stock for our Munich and Long Beach warehouses. If an item is out of stock in these locations, it will be marked as "Pre-order". You can still place an order for these items.
  • Pre-order Fulfillment: For "Pre-order" items, we arrange the most efficient logistics solution to ensure you receive your goods as quickly as possible. Your package may be shipped directly from our Shenzhen warehouse. Alternatively, as part of our standard restocking process, we may transport the goods to our Munich or Long Beach warehouse first (typically taking 5-10 business days) before dispatching them to you.
  • Split Shipments: If your order contains both in-stock and Pre-order items, we will prioritize shipping the in-stock items from the local warehouse immediately. The remaining Pre-order items will be sent to you in a separate shipment once they are ready.

3. International Warehouse

Our products are stored in our Munich, Long Beach, and Shenzhen warehouses to provide more flexible logistics solutions tailored to different regions and customer needs. On each product's description page, we indicate the specific warehouse location to help you better plan your purchase and delivery schedule.

3.1 German Warehouse

For products stored in our warehouse in Munich, we use either Deutsche Post or DHL for shipping, depending on the size of the package. Logistics within Germany are very efficient, with an estimated delivery time of 2-4 business days, ensuring you receive your order quickly and conveniently. For Western EU countries, the estimated delivery time is 4-6 business days. For Eastern EU countries, the estimated delivery time is 6-8 business days.

3.2 US Warehouse

For products stored in our warehouse in Long Beach, we use either USPS or UPS for shipping, depending on the size of the package. Logistics within U.S. are very efficient, with an estimated delivery time of 3-7 business days, ensuring you receive your order quickly and conveniently.

3.3 Chinese Warehouse

For Pre-order items or orders fulfilled directly from our Shenzhen warehouse, we utilize YunExpress for reliable international shipping. Given the complexities of international shipping, the estimated delivery time for these packages is around 10 business days, though this may vary slightly due to customs processes or other uncontrollable factors. Otherwise, products will be restocked to our Munich or US warehouses before final delivery, as detailed in the "Important Notice" above.

4. Customs and Taxes

4.1 How are customs handled by OpenELAB for import or export?

For EU Member States: Whether shipped from Germany or China, we cover all import duties and taxes (DDP), ensuring that you receive your package without any additional costs or hassle with customs.

Important Exception for Non-EU Countries (e.g., Switzerland, Norway):
For countries outside of the European Union, such as Switzerland and Norway, you may be subject to import duties, taxes, and/or customs fees charged upon delivery. These fees vary from country to country and are the sole responsibility of the recipient.

⚠️ Refusal of Delivery: If you refuse to pay these fees upon delivery and the package is returned to us, the refund amount will be calculated after deducting the original shipping costs, return shipping costs, and any applicable customs or storage fees.

4.2 How is VAT charged when the Customer places an order from OpenELAB?

In accordance with the newest VAT e-commerce rules in the EU, OpenELAB shall have the right to charge the amount of VAT at checkout. The standard rate of actual VAT applied is subject to the destination country's regulations. No additional VAT will be charged upon delivery for these orders.