Dexrobot 021S High-Function Three-Fingered Dexterous Hand

In most manipulation projects, the final fraction of human dexterity is what costs most: the extra fingers, the extra actuators, the extra calibration. The Dexrobot 021S High-Function Three-Fingered Dexterous Hand takes a different approach. Rather than chasing every last movement of the human hand, it aims for the large majority of grasps that real tasks demand, and spends its engineering on making those grasps sense, see and adapt. For teams who must justify every component on a robot cell, that is a different calculation from buying a full anthropomorphic hand.

Robots Middle East supplies the Dexrobot 021S to universities, research laboratories, system integrators and industrial users across the Middle East. Robots Middle East prepares each quotation, arranges delivery to your site and provides support after installation, so that the hand reaches your project ready for integration with the arm and the control software you already use.

Background

DEXROBOT and the DexHand021 family

DEXROBOT builds dexterous robot hands, and the 021S belongs to its DexHand021 family. The sources name several versions within that family: DexHand021 S, DexHand021 S-T, DexHand021 MP, DexHand021 Pro and DexHand021 Concept. The S version described on this page is the three-fingered member of the range, positioned as the practical, cost-conscious entry point, while other versions address projects with different priorities. The wider range can be browsed in the DexRobot category, and comparable end-effectors from other makers sit in the Robot Hands category.

Positioning: most of the function, less of the cost

The DexHand021 S is a highly functional three-finger dexterous hand achieving 80% of core hand functions at a lower cost. That statement captures the design philosophy. Mechanically, the hand combines gear, tendon rope and linkage transmission, a hybrid arrangement that allows a compact form while distributing motion across eight degrees of freedom. On top of that mechanism, the manufacturer has added a standard palm-mounted camera, three-dimensional fingertip force sensing and stepless torque adjustment, which turns a lean mechanical design into a perceptive end-effector rather than a simple gripper.

Technical Specifications

Specifications are as published by the manufacturer and are confirmed against the datasheet at quotation.

The manufacturer has not published the IP rating, the operating temperature range, the operating systems supported by the software or the detail of the fingertip tactile coverage; these points are confirmed at quotation.

How does a three-fingered hand cover most hand functions?

A human hand rarely uses all five fingers independently. Most everyday grasps, whether a pinch between two digits, a tripod hold around a small cylinder or a wrap around a tool handle, rely on an opposing pair supported by a third contact. A three-fingered design keeps exactly those contacts and removes the mechanisms that contribute least. The result, in the case of the DexHand021 S, is a hand weighing just 0.6kg with 8 DOFs and a 22N grip force, built for flexible industrial manipulation.

The low mass matters more than it may first appear. Every gram at the end of an arm reduces the payload left for the object being handled and increases the load on the wrist joints. A light end-effector allows smaller collaborative arms and mobile manipulators to carry a dexterous hand at all, which widens the range of platforms on which the 021S can be deployed.

Precision is the other half of the argument. A repeatability of ± 0.5 mm supports the precision picking of micro-objects, and the minimum grasp diameter of ≤ 30 mm indicates that the hand is intended for small parts as well as larger items. The rated lifespan of 200,000 cycles gives integrators a concrete reference point when they plan maintenance intervals for repetitive tasks.

What does the sensing package add to the Dexrobot 021S?

Mechanical dexterity alone does not produce reliable grasping; a hand also needs to know where the object is and how hard it is pressing. The 021S addresses both questions. The standard palm-mounted 5 MP auto-focus RGB camera gives the control system a close view of the object as the fingers approach it, which is valuable when an arm-mounted or overhead camera is blocked by the hand itself in the final centimetres of an approach.

Once contact is made, 3D fingertip force sensing provides real-time contact force feedback, and the tactile sensitivity of 0.1 N allows light touches to be registered. That feedback works together with adaptive torque control: 0 - 1 A stepless torque adjustment with dynamic adaptation lets the hand modulate its force instead of switching between open and closed. For fragile, deformable or irregular objects, this combination is the difference between a secure hold and a crushed part.

Integration completes the picture. The hand communicates over CAN FD / RS485, runs on DC 24 V, and is supplied with an open-source SDK and multi-protocol support. It adapts seamlessly to mainstream robotic arms via multiple communication protocols, so development teams can work with the controllers and programming environments already present in their laboratory or cell.

Who is the Dexrobot 021S for?

The 021S suits research groups in embodied AI and robot learning who need a dexterous hand with vision and force feedback but must equip several workstations on a defined budget. The open-source SDK is particularly relevant to this audience, because algorithms for grasp planning and learning from demonstration depend on direct access to sensor data and control commands.

It also suits system integrators and industrial users automating pick-and-place, sorting, assembly assistance or inspection tasks where a parallel gripper is too limited but a full five-fingered hand would be excessive. Universities and technical colleges building teaching cells will find the light weight and standard industrial interfaces convenient for student projects.

Where a project calls for a higher number of degrees of freedom and richer multi-modal perception, the Dexrobot 021MP High-DOF,Multi-Modal,Perceptive Intelligent General-Purpose Dexterous Hand (021MP) is the version to evaluate. Projects that need the wrist and hand as one integrated unit should consider the Dexrobot 021PRO Wrist-Hand Integrated Dexterous Hand (021PRO), and teams exploring general-purpose intelligent manipulation may wish to compare the Dexrobot 021 Concept Version Intelligent General-Purpose Dexterous Hand (021 Concept). Robots Middle East can advise on which version matches the task.

What is the Dexrobot 021S used for?

1. Precision picking: handling small components where repeatable finger positioning is essential.
2. Embodied AI research: collecting vision and force data to train and test grasping policies.
3. Delicate handling: holding fragile or deformable items with adjustable, feedback-controlled force.
4. Mobile manipulation: equipping lightweight arms on mobile platforms where end-effector mass is critical.
5. Teaching and training: giving students a dexterous, sensor-equipped hand for robotics coursework.
6. Assembly assistance: presenting and holding parts during light assembly and inspection steps.

Pricing and Availability

Robots Middle East supplies the Dexrobot 021S by quotation, prepared for your project and your configuration. Delivery, customs clearance and technical support are arranged together with the quotation. To begin, share your application, the robotic arm you intend to use and your timeline; a request for a quotation is available on this page.

Frequently Asked Questions

How many degrees of freedom does the Dexrobot 021S have?

The DexHand021 S offers 8 DOFs, delivered through a combined gear, tendon rope and linkage transmission.

How much does the hand weigh?

The hand weighs 0.6kg, which keeps the load on the arm low and leaves more payload for the object being handled.

Which communication interfaces does it support?

The 021S communicates over CAN FD / RS485 and runs on DC 24 V. An open-source SDK with multi-protocol support is provided for integration.

Does the hand include a camera?

Yes. A 5 MP auto-focus RGB camera is mounted in the palm as standard, giving a close view of the object during the approach and grasp.

Can it handle fragile objects?

The hand combines 3D fingertip force sensing, 0.1 N tactile sensitivity and 0 - 1 A stepless torque adjustment, so grip force can be adapted to the object in real time.

How small an object can the 021S grasp?

The minimum grasp diameter is ≤ 30 mm, and a repeatability of ± 0.5 mm supports the precision picking of micro-objects.

Where can I buy the Dexrobot 021S and what does it cost?

You can buy the Dexrobot 021S from Robots Middle East, which supplies it across the Middle East. The cost depends on your configuration and delivery requirements and is set out in a quotation requested through this page.

Summary

The Dexrobot 021S answers a question many robotics teams face: how much dexterity is enough? By concentrating on the grasps that make up most hand functions and dispensing with the mechanisms that add cost without proportionate benefit, DEXROBOT has produced a light, eight-degree-of-freedom hand that still sees through its palm camera, feels through its fingertips and adapts its torque continuously. Standard interfaces and an open-source SDK make it practical to attach to mainstream arms, while its repeatability and lifespan give integrators concrete figures to plan around. For laboratories, integrators and industrial users in the Middle East who want capable manipulation without paying for the last fraction of human dexterity, this page is the starting point.