The DexRobot DexHand021 S is an ultra-lightweight three-finger industrial dexterous hand weighing 0.6 kg with 8 degrees of freedom. It delivers ±0.5 mm repeatability, over 10 N fingertip force, and a rated load of 2.5 kg (5 kg max) with a lifespan of 200,000 cycles. Five multi-modal sensing modalities include position, vision via a 5 MP auto-focus RGB camera, multi-axis force, and proximity with 0.1 N tactile sensitivity. It supports adaptive parcel grasp, force-guided compliant assembly, and visual-servo intelligent grasping. An open-source SDK with multi-protocol support (CAN FD, RS485) enables rapid secondary development. It targets research and algorithm development, education, industrial automation, and agricultural harvesting.