Leadshine DH116 Robotic Dexterous Hand with 11‑DOF and 6‑DOA Control (Delivery period 4-6 weeks)

$2,199.00

SKU: Leadshine-DH116-LE

📦 Location of the warehouse: China

Hand: Left

Left Right

Sensor: Sensorless

Sensorless Tactile Sensors

Interface: EtherCAT

EtherCAT CANFD

Product variants

Quantity

Free Shipping from $50 in the US, $70 for non-continental US

- US Delivery Time: 2~7 Business days.

- Non-Continental US Delivery Time: 3~9 working days.

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:

Misuse: Incorrect installation, reverse polarity, or exceeding voltage limits.
Unauthorized Modification: This explicitly includes soldering, cutting pins, modifying the PCB, or flashing unauthorized/beta firmware that "bricks" the device.
Physical Damage: Drops, moisture/water damage, or electrical surges (lightning).
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:

Authorization: Contact us at info@openelab.io before returning any item. Returns without prior authorization will not be accepted.
RMA Number: We will provide you with a Return Merchandise Authorization (RMA) number and the correct return address.
Packing: Ship the item back in its original packaging with the RMA number clearly marked on the shipping label (not on the product box).
Tracking: We strongly recommend using a trackable shipping method. OpenELAB is not responsible for returns lost in transit.

- Pre-Ordering: If an item is unavailable, you can pre-order it. We'll dispatch once stock is replenished, usually within 10 working days. Special pre-sale products will specify the expected arrival time in the description.

- Express Shipping: Need it faster? Contact us via email or through our live chat support, and we'll arrange expedited delivery for you.

Leadshine DH116 Robotic Dexterous Hand with 11‑DOF and 6‑DOA Control (Delivery period 4-6 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-

Pack List

Leadshine DH116 Robotic Dexterous Hand x 1

Communication Interfaces Cable x 1

ETH Adapter Cable x 1

Precautions

Safety Instructions

Inspection Upon Unpacking Verify the device’s exterior condition and ensure all components are present.
Tamper Protection Do not disassemble the enclosure or remove tamper-proof labels unless properly trained.
Power Safety Always power off the device before and after installation or commissioning.
Motion Planning Plan the dexterous hand’s motion path carefully and avoid collisions unless explicitly permitted.
Self-Locking Warning Do not manually force movement when the self-locking function is active. The device will auto-reset upon power-on.
Environmental Restrictions Do not operate in corrosive environments (acidic, alkaline, high humidity, dusty, or oil-laden).
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

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

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

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

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

1. General Shipping Information

We provide premium shipping methods with a tracking number for each order.
Shipping address should be input in English without any special symbols to help the courier company recognize your address in the system. We will ship according to the shipping address you provided. Please notify us of any address change before your order is marked "Shipped" to avoid parcel loss.
Please contact our customer service staff immediately if you need to cancel or change an order. Once your order has reached "Shipped" status, it can no longer be canceled or changed in any way. To avoid complications, please recheck your shopping cart before checkout.
We can ship all in-stock orders within 1 business day as your order has been confirmed.
All items are inspected before dispatch and are carefully hand-packed.
With standard courier practice, you need to check the contents of the parcel before signing for your goods. Otherwise, we will not be held responsible for any damage that may have occurred in transit.

2. Shipping Options & Rates (United States)

(For Products in the US Warehouse & Global Warehouse)

2.1 Continental U.S. (50 States)

Shipping Method	Order Value	Cost	Est. Delivery
USPS Ground Advantage	$0.00 - $5.00	$9.99	3-7 Business Days
USPS Ground Advantage	$5.00 - $50.00	$5.99	3-7 Business Days
USPS Ground Advantage	Over $50.00	Free	3-7 Business Days
USPS Priority Mail (Faster Option)	$0.00 - $50.00	$19.99	1-4 Business Days
USPS Priority Mail	Over $50.00	$17.59	1-4 Business Days

2.2 Non-Continental U.S.

(Includes Alaska, Hawaii, Puerto Rico, Guam, Virgin Islands, etc.)

Shipping Method	Order Value	Cost	Est. Delivery
USPS Ground Advantage	$0.00 - $5.00	$9.99	5-9 Business Days
USPS Ground Advantage	$5.00 - $70.00	$7.99	5-9 Business Days
USPS Ground Advantage	Over $70.00	Free	5-9 Business Days

Important Notice:

Before placing your order, please check the inventory location on the product page to confirm the delivery timeframes.
For products stored in the Global Warehouse (Shenzhen), we will ship them directly from China.
If you place an order for products from both the U.S. warehouse and the Global warehouse, we will ship your order separately: the products from the Global warehouse will be sent from China, and the products from the U.S. warehouse will be sent from the U.S. warehouse.

3. Warehouse Locations

Our products are stored in both our U.S. and Global warehouses to provide more flexible logistics solutions. On each product's description page, we indicate the specific warehouse location.

3.1 U.S. Warehouse

Located in Dover, Delaware (19901).
For products stored here, we use USPS for shipping. Logistics within U.S. are very efficient, with an estimated delivery time of 3-7 business days.

3.2 Global Warehouse (China)

Located in Shenzhen, Guangdong.
For orders shipping from our Global Warehouse, we typically use YunExpress. Given the complexities of international shipping, the estimated delivery time is around 10 business days, though this may vary due to customs processes.

To ensure that your order is delivered within your desired timeframe, we recommend reviewing the warehouse information provided on the product pages before placing your order.

4. Customs and Taxes