Invalid License Patch

In rare cases, Allegro Hand Application Studio (AHAS) will not validate the license file or USB dongle provided with the Allegro Hand.


  1. If, after selecting a hand (virtual or actual) the gray screen shows for a second then the options for selecting a hand are shown once again
  2. If rLicenseManager or the AHAS console window


Download the file below and replace the file rxDataTransceiver_9.dll (at the path shown below) with the included file.

C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\rxDataTransceiver_9.dll

If you have any questions, please email Alex <>


AHAS 3.0 -> 2.0 Patch

To use the most recent version of Allegro Application Studio (3.x) with a version 2.x hand, you must replace the grasping library with a version specifically for version 2.x hands. The primary reason for this is that the gains used in the library's grasping algorithms can be different for different versions of hands.


  1. You are using a version 2.x Allegro Hand and the version of AHAS being used was released after March 03, 2014
  2. Hand controller (specifically the Home position) seems very unstable.


Download the file below and replace the files libBHand.dll and libBHand.lib (at the paths shown below) with the included files.


C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\bin\libBHand.dll


C:\Program Files (x86)\SimLab\Allegro Hand Application Studio\lib\libBHand.lib

If you have any questions, please email Alex <>


AHAS (Latest Version)

AHAS Download

Allegro Hand Application Studio (License removal version)

Below you can download Allegro Hand Application Studio for your Allegro Hand.
In this version, the license is removed so you can execute AHAS immediately after installation.
And the slider section has been removed.
Please refer to Allegro Application Studio (Installation) for installation instructions. (for AH v3.0)

Note: This AHAS installation is not yet configured for your hand. See DMLs section below before installing.


DML files used in Allegro Hand Application Studio (AHAS) contain joint offsets and directions and are specific to each hand.

After Installing AHAS, please locate and download the DML files for your hand below (according to your hand's serial number). Replace the files of the same name in the 'devices' directory (below) with the files downloaded from the wiki.

C:\Program Files\Wonik Robotics\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices

If you chose an installation directory other than the default when installing, you can find your DMLs here:

[Installation Location]\Allegro Hand Application Studio\bin\models\Etc\AllegroHand\devices

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Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2020 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

Wonik Robotics's Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

Wiki maintained by Sean Yi <>

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