Remove the Motor Controller Cover

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Use 1mm hex wrench to remove
four (4) motor controller cover plate screws
Remove plate
and keep the screws in a safe place



Detach the Ribbon Cable from the Motor Controller

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Peel back black tape to reveal
ribbon cable connector
Using your fingernails, slide the black part
of connector outward to release cable



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Pull cable out of connector on motor controller
and detach tape from servo
Remove the double-sided tape
from the ribbon cable



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Re-affix the double-sided to tape
back to its original position on servo



Detach the Ribbon Cable from the Back of Hand

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Locate other end of ribbon cable
on the back of the hand
Detach tape from the back of the hand



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Use a long, narrow tool (wrench)
to release the black connector as before.
You should pry it gently on either side.
Pull cable out of the connector



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Re-affix the double-sided to tape back to its
original position on the back of the hand



New Ribbon Cable

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Insert end of new ribbon cable into the
open connector on the back of the hand.
The exposed cable contacts should face inward
towards the back of the hand
Use a small, narrow tool (wrench)
to push the center of the black part of the connector in,
securing the ribbon cable



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Insert end of new ribbon cable into the
open connector on the first finger link.
Push in the black part of the connector
to secure the end of the ribbon cable



Replace Cover and Test

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Replace the controller cover using four (4) screws.
Do not over-tighten as these are threaded into
the plastic servo case
Test the hand to make sure that
the faulty connection has been fixed



























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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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