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DH116S

DH116S Mini Dexterous Hand

Price
From USD 2,299
Type
Components · Dexterous Hands
Status
Commercially available
Availability
On sale
Release Date
Unknown
Country/Region
China
Latest parameter verification
2026-11-01
6 DOF
Active degrees of freedom
0.349–0.369 kg
Hand weight
5
Finger count

The DH116S is a compact five-finger hand from Leadshine for small and medium humanoid robots. It has eleven total and six active degrees of freedom, a brushless coreless motor drive, worm gearing, and optional tactile sensing. SDK and ROS 2 resources support education, research, display, and light handling.

1 / 1DH116S Mini Dexterous Hand

Technical specifications

Model specifications are shown below. Configuration-specific values are listed separately; missing data does not mean zero or unsupported.

Degrees of freedom and drive

Finger count
5
Actuator technology
Brushless coreless motor
Active degrees of freedom
6 DOF
Passive degrees of freedom
5 DOF
Total degrees of freedom
11 DOF
Transmission mechanism
Worm gear
Joint Motion Range
0–91 °
Joint Motion Range
0–59 °
Joint Motion Range
0–72 °
Joint Motion Range
0–72 °
Joint Motion Range
0–72 °
Joint Motion Range
0–74 °

Mechanical and mounting

Depth
2.635 cm
Length
14.754 cm
Hand weight
0.349–0.369 kg
Width
7.353 cm

Electrical and integration

Joint Encoder
High-precision micro encoder
Maximum current
2 A
Operating voltage
12–48 V
Static current
0.1 A

Performance and tasks

Operating System
Windows; Linux; ROS 2
Repeatability
±0.2 mm

Reliability and environment

IP rating
IP30
Operating temperature
-10–45 °C

Development and Expansion

Configuration Options
Left/right hand; optional piezoresistive or multimodal tactile sensing
Secondary Development (SDK)
Open-source LHandProLib SDK and demo programs

Commercial Information

Expected Delivery
Shipment normally 2–4 weeks after order confirmation

Configurations

DH116S-LW1

Left hand

Communication and control

Communication interface
CAN FD

Software and resources

CAD availability
STEP
ROS compatibility
ROS 2
SDK languages
C++
SDK languages
Python
Simulation formats
URDF
Simulation formats
MJCF

Sensing

Has tactile sensing
No

Only the existing DH116S-LW1 basic configuration. The official store FAQ says the DH116S tactile version is still under development; the separate series overview advertises configurable sensors. This is not a statement that every DH116S version lacks tactile hardware. Recheck the delivered configuration before use.

Commercial Status

Status
Commercially available
Price
From USD 2,299
Release Date
Unknown
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