it's the perfect platform for grasp and manipulation research.
Learn more
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.
Sensor Options
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Just got your Allegro Hand?
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.
version 3.0- Allegro Application Studio (Installation)
- Allegro Application Studio (User Manual)
- Allegro Hand Linux Project
version 4.0version 4.0 does not support Allegro Hand Application Studio
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Success Stories
Cutting edge research and Impressive demonstrations using the Allegro Hand
- Techno-fusion and the Classic Rock-Paper-Scissors: A Robot that Can't Lose!
- Allegro Hand and KUKA Arm Catching at EPFL
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Hardware Information
Technical info about the Allegro Hand hardware can be found below.
version 3.0- Joint Dimensions and Directions [PDF]
- Joint Zeros and Directions Setup Guide
- Joint Limits
- Link Masses
- Home Position Joint Angles
- Mounting Information [PDF]
- Fingertip Sensor Mounting Information
- Ribbon Cable Replacement
version 4.0 -
Need a CAN communication interface?
WONIK ROBOTICS offers support for five CAN communication interfaces out-of-the-box.
For CAN product comparison, documentation and drivers, please visit out CAN Options page.
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Developing your own algorithms?
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.
version 3.0- CAN Options
- CAN Protocol [PDF]
- Grasping Library for Linux
- Allegro Hand Linux Project
- Programming Guides Under Construction!
version 4.0
Allegro Hand v4.0 information.
version 4.0 does not support Allegro Hand Application Studio
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ROS!
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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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.- Forum
- Troubleshooting Guide Coming Soon!
- Contact Us
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User's Manual
File:AllegroHandUsersManual.pdf
File:V4 AllegroHandUsersManual 1.1.pdf -
Brochure
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
Customers (with version <= 3.0)
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.
- afiniti
- AIST
- Alicante
- BAU
- Dongguk University
- EPFL
- GMU
- Hyosung
- HYU
- Hyundai Motor
- Imperial College London
- ISAN
- Istanbul Technical University
- Istituto Italiano di Tecnologia
- KAIST
- KIMM
- KIST
- KITECH
- KRISS
- LG Electronics
- Michigan
- Microsoft Research
- MIT
- Moley robotics
- NIST
- NVIDIA
- Ocado
- Okamura
- OptoForce
- Pusan National University
- QMUL
- Rutgers The University of New Jersey
- SAMSUNG ELECTRONICS
- South China University of Technology
- Seoul National University
- Shinji
- Siena
- SKKU
- Stanford
- TELEXISTENCE
- Toyota Research Institute
- TUBerlin
- TUDarmstadt
- TUMunchen
- UC Berkeley
- UMASS LOWELL
- University of Lincoln
- University of Melbroune
- UPC
- Utah
- Weiss
- WSDU
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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