Wonik Robotics Allegro Hand V4

The Allegro Hand is the four-finger research hand that a large share of published manipulation work is built on. Sixteen independent joints, torque-commandable, with an open-source ROS driver — if you are reproducing a paper, this is often the hand the paper used.

Specifications

• 16 independent joints, 4 DoF per finger across 4 fingers
• Torque and current command control per joint with real-time control support
• Rated to hold up to 5 kg
• CAN communication; official open-source ROS package available
• Linux and Windows SDKs
• Ships with hand (left or right), power supply, stand, CAN/power cable, carrying case, spare parts and tools
• Technology licensed from KITECH's Humanoid Robot Hand research group

Tactile upgrade

XELA Robotics supplies curved uSkin fingertips specifically for the Allegro Hand V4, and Touchlab supplies 42-taxel fingertips — both add a distributed contact channel this hand does not have out of the box.

See also dexterous hands and the robotics hub.