DH116S Series

Only 26 mm thick and 379 g light, the DH116S is the mini version of Leadshine's DH116 series, built for smaller humanoids of roughly the Unitree G1 size class. The five-finger hand measures 147.5 by 73.5 by 26.4 mm and carries 11 degrees of freedom, six of them active, driven by brushless coreless motors.

Despite its size it holds 15 kg in a hook grip and grips with 50 N; opening or closing takes as little as 0.4 s, and the control loop runs above 100 Hz, up to 500 Hz over CAN FD. High-resolution encoders report position, while a tactile version is still in development.

Interfaces are CAN FD or RS-485 with software for Windows, Linux and ROS 2, supply is 12 to 24 V, protection class IP30, rated life one million cycles over a three-year design life. The product page lists two different maximum currents, 3.0 A and 4.6 A, worth clarifying before integration.

In the Leadshine store the right-hand DH116S-RG1 cost USD 2,299 on promotion against 2,399 regular in October 2026, FOB Shenzhen. The full-size sibling is the DH116 Series; another compact option is the RH56H1.