The Leadshine DH116 Series is a five-finger dexterous robot hand designed for humanoid robots, mobile robots, quadruped robots and collaborative robotic systems. Driven by brushless coreless servo motors with a worm-gear transmission, it provides 11 degrees of freedom with 6 active DoF. This listing includes left- and right-hand configurations, CAN FD or EtherCAT communication, and sensorless or multimodal tactile-sensor versions. Variant Selection Guide Choose the hand side, sensor configuration and communication interface required by your robot controller. The multimodal -M versions provide normal-force, tangential-force and proximity sensing. Official Model Hand Communication Sensor DH116-L1 Left CAN FD Sensorless DH116-R1 Right CAN FD Sensorless DH116EC-L1 Left EtherCAT Sensorless DH116EC-R1 Right EtherCAT Sensorless DH116-L1-M Left CAN FD Multimodal tactile DH116-R1-M Right CAN FD Multimodal tactile DH116EC-L1-M Left EtherCAT Multimodal tactile DH116EC-R1-M Right EtherCAT Multimodal tactile Key Features 11 DoF with 6 active DoF: Human-like multi-finger motion in a compact five-finger form factor. High load capability: Up to 30 kg hook-grip load, up to 5 kg single-finger load and up to 50 N lateral grip force. Two communication choices: CAN FD for flexible robot integration or 100 MHz EtherCAT for high-speed real-time control. Optional multimodal tactile perception: The -M variants sense normal force, tangential force and proximity for contact-aware manipulation. Lightweight construction: 545 g ±10 g for integration with small- and medium-sized robotic platforms. Open development ecosystem: Supports Windows 10+, Linux and ROS2 development with C++ and Python resources. Designed for repeated operation: Rated for up to 1 million grasping cycles. Application Scenarios Humanoid robot hands and manipulation platforms Mobile robots and service-robot manipulation Quadruped robots requiring an integrated dexterous end effector Collaborative robot research and light material-handling demonstrations Human-machine interaction, home-service and prosthetic research systems Technical Specifications Item Specification Degrees of Freedom 11 total, 6 active and 5 passive Drive Brushless coreless servo motors with worm-gear transmission Communication CAN FD or EtherCAT, depending on selected model Sensor Configuration Sensorless or multimodal tactile sensor, depending on selected model Dimensions 183 × 86.5 × 30 mm Weight 545 g ±10 g Hook-Grip Load ≤30 kg Maximum Single-Finger Load 5 kg Lateral Grip Force ≤50 N Power Supply 12–48 V DC @ 2.5 A Opening and Closing Speed ≥0.5 s (official specification) Repeatability ±0.2 mm Operating Environment -10 to 40 °C / 85% RH Protection Class IP20 Development Support Windows 10+, Linux, ROS2; C++ and Python Degree of Freedom Distribution Active Joint Minimum Angle Maximum Angle Thumb side swing 0° 60° Thumb flexion and extension 0° 30° Index finger flexion and extension 0° 80° Middle finger flexion and extension 0° 80° Ring finger flexion and extension 0° 80° Little finger flexion and extension 0° 80° Connectivity The selected communication interface is model-specific. CAN FD models use CANH/CANL signal lines; EtherCAT models use dedicated RX and TX differential pairs. RS485 is available on separate DH116RS models and is not included among the variants in this listing. Pin Wire Color EtherCAT CAN FD 1 Red VDC VDC 2 Green GND GND 3 Brown RX+ — 4 White RX- — 5 Yellow TX+ — 6 Black TX- — 7 Yellow — CANH 8 Black — CANL Pack List Leadshine DH116 Robotic Dexterous Hand × 1 Communication Interfaces Cable × 1 ETH Adapter Cable × 1 Quick Start Select the required hand side, communication interface and sensor configuration. Prepare a 12–48 V DC power supply with suitable current capacity for the DH116. Connect the CAN FD or EtherCAT cable according to the selected model and official pinout. Download the current LHandPro software, SDK, ROS2 package and protocol from the Leadshine Download Center. Follow the official user manual and OpenELAB Wiki for setup, commissioning and safety instructions. Official Resources OpenELAB DH116 Wiki and User Guide Leadshine DH116 Series Product Page DH116 Series Dexterous Hand User Manual Leadshine DH116 Catalog and Selection Guide Leadshine Download Center: SDK, ROS2, URDF/MJCF, Protocol and Software FAQ Do all DH116 variants include tactile sensors? No. Sensorless models do not include tactile sensing. The -M variants include multimodal tactile sensors that provide normal-force, tangential-force and proximity sensing. How do I choose between CAN FD and EtherCAT? Select the interface supported by your robot controller. CAN FD models use the DH116-L1/R1 naming, while EtherCAT models use the DH116EC-L1/R1 naming. The interface is hardware-specific and should be selected when ordering. Are both left- and right-hand versions available? Yes. Every sensor and communication configuration in this listing is available as a left- or right-hand model. Does this listing include an RS485 version? No. The variants on this page cover CAN FD and EtherCAT. Leadshine uses separate DH116RS model numbers for RS485 configurations. What development environments are supported? Leadshine provides resources for Windows 10+, Linux and ROS2, with C++ and Python development support. Current packages are available from the official Download Center. Which resources apply to units manufactured before February 10, 2026? The official user manual includes a dedicated legacy-resource section for units manufactured before February 10, 2026, covering the applicable SDK, URDF, ROS2 demo, debugging software and communication protocol.
