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DH2116-R1 Dexterous Hand 21-DOF | 94N Grip Force | CAN-FD Communication
DH2116-R1 Dexterous Hand 21-DOF | 94N Grip Force | CAN-FD Communication
DH2116-R1 Dexterous Hand 21-DOF | 94N Grip Force | CAN-FD Communication
DH2116-R1 Dexterous Hand 21-DOF | 94N Grip Force | CAN-FD Communication
DH2116-R1 Dexterous Hand 21-DOF | 94N Grip Force | CAN-FD Communication
DH2116-R1 Dexterous Hand 21-DOF | 94N Grip Force | CAN-FD Communication

DH2116-R1 Dexterous Hand 21-DOF | 94N Grip Force | CAN-FD Communication

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CAN-FD｜16 Active DOF｜Right‑Hand

  • 16 active brushless coreless motors with 5 passive degrees of freedom
  • Supported communication protocol: CAN FD 
  • Maximum overall grip force of the dexterous hand: 94 N
  • Screw drive transmission structure
  • Compatible with Windows, Linux and ROS2; supports x86 and ARM architectures. C++ and Python are available for development.
  • Equipped with intuitive graphical upper computer debugging tools, along with open-source SDKs and demo programs.

Degree of Freedom

21 degrees of freedom, 16 active degrees of freedom

Communication Method

CANFD

Dimensions

218 * 119 * 80.5 mm

Weight

850g ± 10g

Color

Ink Jade Gray

Repeatability of positioning accuracy

±0.6mm

Maximum Load (Hook Grip)

5Kg

Five-finger Grip Force (Maximum)

94N

Protection Class

IP30

Hand Side

Right Hand

Why Choose DH2116

The DH2116 series dexterous hand features 21 degrees of freedom with 16 active degrees of freedom, supports CAN, CANFD, and RS485 communication protocols.

High-speed communication

5M CANFD,
5M RS485,

High Precision

Leadscrew solution provides
more effective model data

Powerful load capacity

100N active grip force,
2kg fingertip thrust,

Applications

Designed for versatile robotic applications, enabling precise manipulation, adaptive interaction, and reliable performance across diverse industries.
LeadshineLeadshine
Humanoid Robotics
LeadshineLeadshine
Mobile Robots
LeadshineLeadshine
Quadruped Robot
LeadshineLeadshine
Collaborative Robot
Product Comparison
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Degree of Freedom
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Communication Method
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Dimensions
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Weight
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Color
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Repeatability of positioning accuracy
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Maximum Load (Hook Grip)
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Five-finger Grip Force (Maximum)
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Protection Class
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Hand Side
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Learn More

Dexterous Hands

1. For dexterous hand DH116S basic edition: how to change the CANFD connection ID?

The ID can be changed via the host computer.
2. If DH116S has version with tactile sensors?

The DH116S tactile version is still under development. Currently, the DH116 is available with tactile sensor integration.
3.  What is the communication frequency of DH116S dexterous hand?

The communication frequency can reach over 100 Hz. With CANfd, the maximum communication frequency can reach 500 Hz.
4. What are the current parameters of the DH116S dexterous hand?

Under 24V power supply for the basic version, the standby current is 12 mA, the no-load average current (five-finger flexion and extension) is 100 mA, and the maximum current is 4.6 A.
5. After connecting the DH2116 product to the dexterous hand, I cannot successfully control the dexterous hand. What should I do?

Please check the wiring connections (whether the driver for the communication device is installed, whether the power supply is correctly connected, and whether the signal lines are properly connected to the communication device).
6. When controlling the dexterous hand with the DH2116 product, the dexterous hand suddenly returns to its initial position (resets). Why?

Check whether the power supply capacity covers the maximum power of the dexterous hand. The maximum power for a single dexterous hand can reach 100W. Under 24V power supply, it is recommended to set the current limit to 8A or above. Verify whether the connected power supply meets this requirement.
7. I have questions about the stroke, speed, and current parameters of the DH2116 dexterous hand？

1 stroke unit is equivalent to 1/10,000 of the maximum travel of the dexterous hand's finger movement. The unit of speed is 0.001 stroke/second. The unit of current is 0.001A. Speed and current can be positive or negative, where positive and negative represent the direction of finger movement.
8. The host computer software installation for the DH2116 dexterous hand fails. What should I do?

The required environment software needs to be installed. After extracting the host computer software package, the installation will proceed automatically.

Stock Code: 002979

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Tel: +86 0755 86088550

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Email: store@leadshine.com

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