Features

Allegro Hand is a low-cost and highly adaptive robotic hand.
With four fingers and sixteen independent current-controlled joints,
it's the perfect platform for grasp and manipulation research.


  • Lightweight and portable anthropomorphic design
  • Low-cost dexterous manipulation with applications in research and industry
  • Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
  • Capable of holding up to 5kg
  • 16 (4 fingers x 4 DOF ea.) independent joints
  • Each joint gets current command
  • Support for real-time control


AH 4pics.jpg

Tech Specs

Number of Fingers
Four (4) fingers, including thumb
Degrees of Freedom
4 fingers x 4 = 16 (Active)
Actuation
Type DC Motor
Gear Ratio 1:369
Max. Torque 0.70 (Nm)
Max. Joint Speed 0.11 (sec/60dgree)
Weight
Finger 0.17 (kg)
Thumb 0.19 (kg)
Total 1.08 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Communication
Type CAN
Frequency 333 (Hz)
Payload
5 (kg)
Power Requirement
12~24V, 120W


HandDimensions 3.0.jpg

System Requirements

CPU
Intel® Core™2 Duo or higher
RAM
at least 2GB
HDD
at least 2GB
Graphics
OpenGL 3.0 H/W Acceleration enabled
with at least 64Mb of video RAM
OS
MS Windows® XP,
MS Windows® Vista,
MS Windows® 7
MS Windows® 8
Ubuntu 10.04-12.10 (ROS)
Ubuntu 16.04 (ROS)
Additional S/W
MS Visual Studio®
CAN Interface
NI or PEAK CAN
Note: Any CAN interface can be user-configured for use with the Allegro Hand.


Product

AllegroLogo.jpg

The Allegro Hand comes with a simple software for developing and testing control algorithms for a variety of commercial robots. There are Linux version and Windows version.

In the Box

  1. Allegro Hand (Left or Right)
  2. Power Supply
  3. Allegro Hand stand
  4. CAN/Power cable (terminated on hand-end only)
  5. Protective Plastic Carrying Case
  6. 2mm hex wrench
  7. Spare screws


Optional: (see below for details)

  1. RoboticsLab Software


InTheBox.jpgBox contents.png


Purchasing Options

RoboticsLabLogo.jpg

Paired with our RoboticsLab development environment, the user can take full advantage of robust dynamics and system control engines as well as out feature-rich controls SDK. RoboticsLab also enables users to easily model custom robots and test environments in 3D and add built-in and custom sensors, actuators and other dives. RoboticsLab provides the flexibility necessary to prototype and test control algorithms for any system.

Wonik Robotics provides the Allegro Hand and RoboticsLab separately. The cost of RoboticsLab is 10,000 USD for academic use (one license). RoboticsLab is a complete robotics research framework that allows the roboticist to model and control robotic system simulations and actual hardware in hard realtime. RoboticsLab provides you with SDKs full of tools for creating advanced but user friendly applications for developing and verifying your system. It also includes a robust and adaptable control SDK to help you focus on your specific application rather than low level controls. Fully integrated, RoboticsLab is the easiest way to get the Allegro Hand up and running with your own controllers and allows the seamless integration of any sensors or robotic arms you may add to the system in the future.

You can read more at http://wonikrobotics.com/RoboticsLab.htm.

and RoboticsLab website.

Allegro Hand v4.0

AllegroManualIcon.jpg File:V4 AllegroHandUsersManual 1.1.pdf

Allegro Hand v4.0 programs

Software Git Repository

windows : windows-project
linux : linux-project
ROS : ros-kinetic-AllegroHand


Allegro Hand CAD File

Please, email us if you need Allegro Hand CAD STP file.
robotics.biz@wonik.com

Getting Started for v4.0

File:AllegroHand - Troubleshooting & FAQ V1.01.pdf

Purchasing

For a quote or any other inquiry, please contact us!


WONIK ROBOTICS

address 4F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA
phone +82-31-8038-9180
fax +82-31-8038-9190
email robotics.biz@wonik.com






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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

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