DexHand021 has 19 degrees of freedom(DOF), including 12 active DOF and 7 passive DOF. All 12 motors and 6 motor drivers are built into the palm, with standard mechanical and electrical interfaces reserved externally for easy integration by customers. DexHand021 adopts motor and steel wire-driven, with flexible operation ability like a human hand. It can complete various dexterous operation，such as turning Rubik's Cube in the palm, multi-bodies grasping, pinching, tapping, grasping, tool using, gesture action, etc.