Difference between revisions of "Allegro Hand"

 
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Welcome to SimLab's '''Allegro''' Hand wiki.
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On this wiki, Allegro Hand owners can find technical support and other useful tips and documentation relating to use and maintenance.
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'''Welcome to the new Allegro Hand site!'''<br>
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<br><br>
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Explore the content using the navigation bar, the links below and the search bar to the left.<br>Please leave any questions or comments at the bottom of this page.
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Also, a forum is currently in the works allowing users to query the minds of and lend support to other Allegro Hand users.
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Please explore this wiki and get a feel for information available. If you have any questions, comments, or ideas for what you would like to see on this wiki, please do not hesitate to contact me:
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Thanks! And enjoy your new Allegro Hand.
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'''Alert! Customer pages now require login credentials to access!'''<br>
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<br><br>
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You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email [info@wonikrobotics.com]. Thanks.
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Alex Alspach<br>
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alexalspach@simlab.co.kr
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<font size="5"><strong>Allegro Hand is a low-cost and highly adaptive robotic hand.</strong></font></br></br>
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<font size="4">With four fingers and sixteen independent current-controlled joints,<br>it's the perfect platform for grasp and manipulation research.</font><br><br>
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<a href="http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Allegro_Hand_v4.0" class="btn btn-primary btn-large">Learn more</a>
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'''Allegro Hand v4.0 has been released!'''<br>
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The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!<br>Please email [robotics.biz@wonik.com] with any questions.
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''' [[Allegro Hand v4.0 | Allegro Hand v4.0 information]].'''
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{{Front page hand photos}}
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<font size="5"><strong>Multiple sensing options are now available for the Allegro Hand!</strong></font></br></br>
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<font size="4">A variety of fingertip sensors as well as an attitude and heading reference sensor</br>can now be purchased as add-ons to the hand.</font><br><br>
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<a href="http://wiki.wonikrobotics.com/AllegroHandWiki/index.php/Sensor_Options" class="btn btn-success btn-large">Sensor Options</a>
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<font size="5">Just got your Allegro Hand?</font>
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Please refer to our guides on Allegro Application Studio and Allegro Hand setup and use. For Linux users, please refer to Allegro Hand Linux Project.
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<br><br><font size="3">version 3.0</font>
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*[[Allegro Application Studio (Installation)]]
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*[[Allegro Application Studio (User Manual)]]
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*[[Allegro Hand Linux Project]]
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<br><font size="3">version 4.0</font>
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*[[Programming Guides v4.0]] <br>
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version 4.0 does not support Allegro Hand Application Studio
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<font size="5">Success Stories</font>
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Cutting edge research and Impressive demonstrations using the Allegro Hand
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*[[Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!]]
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*[[Allegro Hand and KUKA Arm Catching at EPFL]]
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<font size="5">Hardware Information</font>
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Technical info about the Allegro Hand hardware can be found below.
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<br><br><font size="3">version 3.0</font>
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*[[Joint Dimensions and Directions]] [[http://wiki.wonikrobotics.com/AllegroHandWiki/images/f/f8/AllegroHandJointInfo.pdf PDF]]
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*[[Joint Zeros and Directions Setup Guide]]
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*[[Joint Limits]]
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*[[Link Masses]]
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*[[Home Position Joint Angles]]
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*[[Mounting Information]] [[http://wiki.wonikrobotics.com/AllegroHandWiki/images/7/76/AllegroHandMounting.pdf PDF]]
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*[[Fingertip Sensor Mounting Information]]
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*[[Ribbon Cable Replacement]]
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<br><font size="3">version 4.0</font>
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*[[Mounting Information v4.0]]
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*[[CAN Protocol v4.0]]
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*[[Wiring for Allegro Hand v4.0]]
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<font size="5">Need a CAN communication interface?</font>
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WONIK ROBOTICS offers support for five CAN communication interfaces out-of-the-box.<br>
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For CAN product comparison, documentation and drivers, please visit out CAN Options page.
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*[[CAN Options]]
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<font size="5">Developing your own algorithms?</font>
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If you plan to develop your own algorithms for the Allegro Hand, these guides will help you establish communications using CAN protocol. Also, the programming guides will provide you the ability to create your own algorithms using Allegro Hand Application Studio (AHAS) as the front end.
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<br><br><font size="3">version 3.0</font>
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*[[CAN Options]]
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*[[CAN Protocol]] [[http://wiki.wonikrobotics.com/AllegroHandWiki/images/8/83/AllegroHandCanProtocol.pdf PDF]]<br>
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*[[Grasping Library for Linux]]
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*[[Allegro Hand Linux Project]]
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*[[Programming Guides]]  ''Under Construction!''
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**[[1. Setup: DLL Project, Control XDL & the AHAS Lua file]]
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**[[2. Allegro Hand Joint Position Control]] (Virtual Hand)
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**[[3. Interfacing with the Actual Allegro Hand]]
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**[[4. AHAS Buttons and BHand Library Motions]]
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**[[5. Joint PD Control Without Hand Library]]
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<br><font size="3">version 4.0</font><br>
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''' [[Allegro Hand v4.0 | Allegro Hand v4.0 information]].'''<br>
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version 4.0 does not support Allegro Hand Application Studio
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<font size="5">ROS!</font>
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If you are developing software for the allegro hand on a linux-based platform, you will happy to hear that both Allegro Hand versions 1 and 2 are supported in ROS, the open-source Robot Operating System (ROS.org). The ROS stack provides CAN communication, using a PEAK CAN device, as well as basic controllers and a control loop template for quickly implementing your own code. Downloads and installation instructions can be found on the ROS wiki:
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*[http://www.ros.org/wiki/Robots/AllegroHand ROS.org/wiki/Robots/AllegroHand]
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<font size="5">Questions? Comments? Concerns?</font>
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 +
WONIK ROBOTICS offers a 1-year hardware and software warranty along with fast and friendly technical support.<br>
 +
If you have an issue, feel free to contact us.
 +
*[[Special:AWCforum|Forum]]
 +
*[[Troubleshooting Guide]] ''Coming Soon!''
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*[[Contact Us]]
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<font size="5">User's Manual</font><br>
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[[Image:AllegroManualIcon.jpg | link=http://wiki.wonikrobotics.com/AllegroHandWiki/images/e/e3/AllegroHandUsersManual.pdf]]
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<br>[[File:AllegroHandUsersManual.pdf]]<br>
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[[File:v4_AllegroHandUsersManual_1.1.pdf]]
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<font size="5">Brochure</font><br>
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[[Image:AllegroBrochureIcon.jpg|90px|link=http://www.simlab.co.kr/brochures/Allegro-Hand-brochure.pdf]]
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{{alert error dismiss header}}
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'''Alert! Customer pages now require login credentials to access!'''<br>
 +
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email [info@wonikrobotics.com]. Thanks.
 +
{{alert error dismiss footer}}
  
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==Getting Started==
 
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While this section on the main page is just an overview, an in-depth software and hardware installation guide is available on out [[Getting Started]] page.<br>
 
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===CAN Interface===
 
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To use your new Allegro Hand with Allegro Application Studio (AAS), a controller area network (CAN) interface must be used. Out of the box, the Allegro Hand and AAS communicate via any of four CAN interface products:<br>
 
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*National Instruments' (NI) USB-8473s High-Speed CAN<br>
 
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*Softing's CAN-AC2-PCI<br>
 
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*Kvaser's PCIcan 4xHS<br>
 
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*ESD's CAN-PCI/266<br>
 
 
<br>
 
<br>
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All four of these CAN interface solutions can be purchased from SimLab along with the Allegro Hand.<br>
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Driver information and downloads can be found on our [[Getting Started]] page.<br>
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<font size="5">Customers</font><br><br>
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<br>
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{{margin|10px}}[[Image:EPFLLogo.png|130px|link=EPFL:Allegro Hand|EPFL - Swiss Federal Institutes of Technology]]{{/margin}}
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'''Note:''' Other CAN interfaces may also be used but communication must be configured by the user.<br>
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{{margin|10px}}[[Image:KISTLogo.jpg|link=KIST Customers|KIST - Korea Institute of Science and Technology]]{{/margin}}
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{{margin|10px}}[[Image:SKKULogo.jpg|240px|link=SKKU:Allegro Hand|SKKU - Sungkyunkwan University]]{{/margin}}
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{{margin|10px}}[[Image:HyosungLogo.jpg|240px|link=Hyosung:Allegro Hand|Nautilus Hyosung]]{{/margin}}
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{{margin|10px}}[[Image:KIMMLogo.jpg|link=KIMM:Allegro Hand|KIMM - Korea Institute of Machinery & Materials]]{{/margin}}
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{{margin|10px}}[[Image:TUBerlinLogo.jpg|120px|link=TUBerlin:Allegro Hand|Berlin Institute of Technology]]{{/margin}}
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{{margin|10px}}[[Image:StanfordLogo.jpg|80px|link=Stanford:Allegro Hand|Stanford University]]{{/margin}}
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{{margin|10px}}[[Image:UPCLogo.jpg|120px|link=UPC:Allegro Hand|Technical University of Catalonia]]{{/margin}}
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{{margin|10px}}[[Image:PKNULogo.jpg|120px|link=PKNU:Allegro Hand|Pukyong National University]]{{/margin}}
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{{margin|10px}}[[Image:AlicateLogo.png|180px|link=Alicante:Allegro Hand|University of Alicante]]{{/margin}}
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{{margin|10px}}[[Image:WeissLogo.png|160px|link=Weiss:Allegro Hand|Weiss Robotics]]{{/margin}}
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{{margin|10px}}[[Image:SienaLogo.jpg|160px|link=Siena:Allegro Hand|University of Siena]]{{/margin}}
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{{margin|10px}}[[Image:ISANLogo.jpg|160px|link=ISAN:Allegro Hand|ISAN Solution]]{{/margin}}
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{{margin|10px}}[[Image:MSLogo.jpg|160px|link=Microsoft Research:Allegro Hand|Microsoft Research]]{{/margin}}
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{{margin|10px}}[[Image:TUMunchenLogo.jpg|120px|link=TUMunchen:Allegro Hand|Technical University of Munich]]{{/margin}}
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{{margin|10px}}[[Image:WSDULogo.png|320px|link=WSDU:Allegro Hand|University of Waseda]]{{/margin}}
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{{margin|10px}}[[Image:BAULogo.png|240px|link=BAU:Allegro Hand|Bahcesehir University]]{{/margin}}
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{{margin|10px}}[[Image:HYULogo.png|130px|link=HYU:Allegro Hand|Han Yang University]]{{/margin}}
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{{margin|10px}}[[Image:GMULogo.png|180px|link=GMU:Allegro Hand|George Mason University]]{{/margin}}
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{{margin|10px}}[[Image:OFLogo.png|200px|link=OF:Allegro Hand|Opto Force]]{{/margin}}
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{{margin|10px}}[[Image:tudLogo.png|200px|link=TUD:Allegro Hand|TU-Darmstadt]]{{/margin}}
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{{margin|10px}}[[Image:utahLogo.png|200px|link=Utah:Allegro Hand|University of Utah]]{{/margin}}
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{{margin|10px}}[[Image:nistLogo.png|200px|link=NIST:Allegro Hand|National Institute of Standards and Technology]]{{/margin}}
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{{margin|10px}}[[Image:michiganLogo.png|120px|link=Michigan:Allegro Hand|University of Michigan-dearborn]]{{/margin}}
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{{margin|10px}}[[Image:unimelbLogo.png|200px|link=Unimelb:Allegro Hand|University of Melbourne]]{{/margin}}
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{{margin|10px}}[[Image:SNULogo.png|150px|link=SNU:Allegro Hand|Seoul National University]]{{/margin}}
 +
{{margin|10px}}[[Image:ituLogo.png|150px|link=ITU:Allegro Hand|Istanbul Technical University]]{{/margin}}
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{{margin|10px}}[[Image:RutgersLogo.png|200px|link=RUTGERS:Allegro Hand|Rutgers The University of New Jersey]]{{/margin}}
 +
{{margin|10px}}[[Image:OcadoLogo.png|200px|link=OCADO:Allegro Hand|Ocado]]{{/margin}}
 +
{{margin|10px}}[[Image:qmulLogo.png|200px|link=QMUL:Allegro Hand|QMUL]]{{/margin}}
 +
{{margin|10px}}[[Image:moleyLogo.png|200px|link=Moley:Allegro Hand|Moley robotics]]{{/margin}}
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{{margin|10px}}[[Image:DonggukLogo.png|250px|link=DU:Allegro Hand|Dongguk University]]{{/margin}}
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{{margin|10px}}[[Image:KrissLogo.png|190px|link=KRISS:Allegro Hand|KRISS]]{{/margin}}
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{{margin|10px}}[[Image:ucberkeleyLogo.png|210px|link=UCBerkeley:Allegro Hand|UC Berkeley]]{{/margin}}
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{{margin|10px}}[[Image:lincolnLogo.png|220px|link=Lincoln:Allegro Hand|University of Lincoln]]{{/margin}}
 +
{{margin|10px}}[[Image:iitLogo.png|220px|link=IIT:Allegro Hand|Istituto Italiano di Tecnologia]]{{/margin}}
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{{margin|10px}}[[Image:aistLogo.png|220px|link=AIST:Allegro Hand|National Institute of Advanced Industrial Science and Technology]]{{/margin}}
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{{margin|10px}}[[Image:okamuraLogo.png|220px|link=Okamura:Allegro Hand|Okamura]]{{/margin}}
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{{margin|10px}}[[Image:UMassLowellLogo.png|110px|link=UMASSLOWELL:Allegro Hand|UMASS LOWELL]]{{/margin}}
 +
{{margin|10px}}[[Image:GoogleLogo.png|180px|link=GoogleLLC:Allegro Hand|Google]]{{/margin}}
 +
{{margin|10px}}[[Image:HyundaiMotorLogo.png|180px|link=HyundaiMotor:Allegro Hand|Hyundai Motor]]{{/margin}}
 +
{{margin|10px}}[[Image:NVIDIALogo.png|220px|link=NVIDIA:Allegro Hand|NVIDIA]]{{/margin}}
 +
{{margin|10px}}[[Image:KITECHLogo.jpg|220px|link=KITECH:Allegro Hand|KITECH]]{{/margin}}
 +
{{margin|10px}}[[Image:KAISTLogo.jpg|220px|link=KAIST:Allegro Hand|KAIST]]{{/margin}}
 +
{{margin|10px}}[[Image:MITLogo.png|220px|link=MIT:Allegro Hand|Massachusetts Institute of Technology]]{{/margin}}
 +
{{margin|10px}}[[Image:TRILogo.png|170px|link=TRI:Allegro Hand|Toyota Research Institute]]{{/margin}}
 +
{{margin|10px}}[[Image:LGLogo.png|230px|link=LG:Allegro Hand|LG Electronics]]{{/margin}}
 +
{{margin|10px}}[[Image:facebookLogo.png|230px|link=FACEBOOK:Allegro Hand|Facebook]]{{/margin}}
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{{margin|10px}}[[Image:telexistenceLogo.png|200px|link=TELEXISTENCE:Allegro Hand|TELEXISTENCE]]{{/margin}}
 +
{{margin|10px}}[[Image:SCUTLogo.png|160px|link=SCUT:Allegro Hand|South China University of Technology]]{{/margin}}
 +
{{margin|10px}}[[Image:PNULogo.jpg|160px|link=PNU:Allegro Hand|Pusan National University]]{{/margin}}
 +
{{margin|10px}}[[Image:afinitiLogo.png|160px|link=AFINITI:Allegro Hand|afiniti]]{{/margin}}
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{{margin|10px}}[[Image:imperial_college_Logo.png|160px|link=Imperial_College:Allegro Hand|Imperial College London]]{{/margin}}
 +
{{margin|10px}}[[Image:samsungLogo.png|190px|link=SAMSUNG_ELECTRONICS:Allegro Hand|SAMSUNG ELECTRONICS]]{{/margin}}
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</center>
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 +
==Customers (with version <= 3.0)==
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 +
{{alert error dismiss header}}
 +
'''Alert! Customer pages now require login credentials to access!'''<br>
 +
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email [info@wonikrobotics.com]. Thanks.
 +
{{alert error dismiss footer}}
 +
 
 +
* [[AFINITI:Allegro Hand|afiniti]]
 +
* [[AIST:Allegro Hand|AIST]]
 +
* [[Alicante:Allegro Hand|Alicante]]
 +
* [[BAU:Allegro Hand|BAU]]
 +
* [[DU:Allegro Hand|Dongguk University]]
 +
* [[EPFL: Allegro Hand|EPFL]]
 +
* [[FACEBOOK: Allegro Hand|Facebook]]
 +
* [[GMU:Allegro Hand|GMU]]
 +
* [[GoogleLLC:Allegro Hand|Google]]
 +
* [[Hyosung:Allegro Hand|Hyosung]]
 +
* [[HYU:Allegro Hand|HYU]]
 +
* [[HyundaiMotor:Allegro Hand|Hyundai Motor]]
 +
* [[Imperial_College:Allegro Hand|Imperial College London]]
 +
* [[ISAN:Allegro Hand|ISAN]]
 +
* [[ITU:Allegro Hand|Istanbul Technical University]]
 +
* [[IIT:Allegro Hand|Istituto Italiano di Tecnologia]]
 +
* [[KAIST:Allegro Hand|KAIST]]
 +
* [[KIMM:Allegro Hand|KIMM]]
 +
* [[KIST_Customers|KIST]]
 +
* [[KITECH:Allegro Hand|KITECH]]
 +
* [[KRISS:Allegro Hand|KRISS]]
 +
* [[LG:Allegro Hand|LG Electronics]]
 +
* [[Michigan:Allegro Hand|Michigan]]
 +
* [[Microsoft Research:Allegro Hand|Microsoft Research]]
 +
* [[MIT:Allegro Hand|MIT]]
 +
* [[Moley:Allegro Hand|Moley robotics]]
 +
* [[NIST:Allegro Hand|NIST]]
 +
* [[NVIDIA:Allegro Hand|NVIDIA]]
 +
* [[OCADO:Allegro Hand|Ocado]]
 +
* [[Okamura:Allegro Hand|Okamura]]
 +
* [[OF:Allegro Hand|OptoForce]]
 +
* [[PNU:Allegro Hand|Pusan National University]]
 +
* [[QMUL:Allegro Hand|QMUL]]
 +
* [[RUTGERS:Allegro Hand|Rutgers The University of New Jersey]]
 +
* [[SAMSUNG_ELECTRONICS:Allegro Hand|SAMSUNG ELECTRONICS]]
 +
* [[SCUT:Allegro Hand|South China University of Technology]]
 +
* [[SNU:Allegro Hand|Seoul National University]]
 +
* [[Shinji:Allegro Hand|Shinji]]
 +
* [[Siena:Allegro Hand|Siena]]
 +
* [[SKKU:Allegro Hand|SKKU]]
 +
* [[Stanford:Allegro Hand|Stanford]]
 +
* [[TELEXISTENCE:Allegro Hand|TELEXISTENCE]]
 +
* [[TRI:Allegro Hand|Toyota Research Institute]]
 +
* [[TUBerlin:Allegro Hand|TUBerlin]]
 +
* [[TUD:Allegro Hand|TUDarmstadt]]
 +
* [[TUMunchen:Allegro Hand|TUMunchen]]
 +
* [[UCBerkeley:Allegro Hand|UC Berkeley]]
 +
* [[UMASSLOWELL:Allegro Hand|UMASS LOWELL]]
 +
* [[Lincoln:Allegro Hand|University of Lincoln]]
 +
* [[unimelb:Allegro Hand|University of Melbroune]]
 +
* [[UPC:Allegro Hand|UPC]]
 +
* [[Utah:Allegro Hand|Utah]]
 +
* [[Weiss:Allegro Hand|Weiss]]
 +
* [[WSDU:Allegro Hand|WSDU]]
 +
 
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<br><br><br><br><br><br><br><br><br>
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 +
----
 +
*[[Internal_Ltd:Interns|Wonik Robotics Interns]]
 +
*[[Dev:Index|Wonik Robotics Development]]
 +
*[[AHAS Patches]]
 
<br>
 
<br>
 +
*[[Allegro Hand DML Info]]
 +
 +
 +
[[Rock Paper Scissors]]
 +
 +
[[Sensor Options]]
 +
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[[About This Wiki]]<br>
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[[Special:AWCforum|Allegro Hand Forum]] <br>
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[http://wiki.anotherwebcom.com/User_Instruction_Manual Forum User Manual]<br>
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<font size="5">[[Getting Started]]</font><br>
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[[Special:AWCforum]] <-- [http://wiki.anotherwebcom.com/User_Instruction_Manual User Manual]<br>
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Latest revision as of 16:58, 16 August 2024


HOME 240119.png

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.

Learn more
Allegro Hand v4.0 has been released!
The new version embodies some great new improvements in technology and design. This hand is more reliable, easier to use and overall better looking!
Please email [robotics.biz@wonik.com] with any questions.

Allegro Hand v4.0 information.



Multiple sensing options are now available for the Allegro Hand!

A variety of fingertip sensors as well as an attitude and heading reference sensor
can now be purchased as add-ons to the hand.

Sensor Options





  • Questions? Comments? Concerns?

    WONIK ROBOTICS offers a 1-year hardware and software warranty along with fast and friendly technical support.
    If you have an issue, feel free to contact us.




Alert! Customer pages now require login credentials to access!
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email [info@wonikrobotics.com]. Thanks.


Customers

EPFL - Swiss Federal Institutes of Technology
KIST - Korea Institute of Science and Technology
SKKU - Sungkyunkwan University
Nautilus Hyosung
KIMM - Korea Institute of Machinery & Materials
Berlin Institute of Technology
Stanford University
Technical University of Catalonia
Pukyong National University
University of Alicante
Weiss Robotics
University of Siena
ISAN Solution
Microsoft Research
Technical University of Munich

University of Waseda
Bahcesehir University
Han Yang University
George Mason University
Opto Force
TU-Darmstadt
University of Utah
National Institute of Standards and Technology
University of Michigan-dearborn
University of Melbourne
Seoul National University
Istanbul Technical University
Rutgers The University of New Jersey
Ocado
QMUL
Moley robotics
Dongguk University
KRISS
UC Berkeley
University of Lincoln
Istituto Italiano di Tecnologia
National Institute of Advanced Industrial Science and Technology
Okamura
UMASS LOWELL
Google
Hyundai Motor
NVIDIA
KITECH
KAIST
Massachusetts Institute of Technology
Toyota Research Institute
LG Electronics
Facebook
TELEXISTENCE
South China University of Technology
Pusan National University
afiniti
Imperial College London
SAMSUNG ELECTRONICS


[edit] Customers (with version <= 3.0)

Alert! Customer pages now require login credentials to access!
You or someone in your lab has recently been emailed a lab-wide username/password to be used when accessing the Allegro Hand information and downloads specific to you. If you have not received this email or you need it to be resent, please email [info@wonikrobotics.com]. Thanks.













Rock Paper Scissors

Sensor Options






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