Serial Number: SAH020CR020 (Right)


Getting Started

More information is accessible using the navigation bar at the top of the page.


Note: Please see the DMLs section below before uninstalling your current version of AHAS.

09/13/2013: Allegro Hand Application Studio Update Available!

This version should address graphics related issues.
Make sure to copy your current DMLs and fully uninstall AHAS before installing this new version.

File:Allegro Hand Setup 130912.iso


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

Please locate the DML files in your current AHAS installation and copy them to a safe place before uninstalling. After installing the new AHAS version, you will need to copy your original DML files to the newly installed AHAS.

DML files can be found here:

C:\Program Files\SimLab\Allegro Hand Application Studio\bin\models\Etc\ERHand\devices

Offsets and Directions

Note: These are the offsets and directions for your Allegro Hand

Template:SAH020CR020 Offsets and Directions Template:SAH020CR020 Offsets and Directions (ROS)



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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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