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 1.5kg
  • 16 independent current-controlled joints (4 fingers x 4)
  • Allegro Application Studio integration allows for simulation based algorithm prototyping without ever changing your code
  • Support for real-time control and online simulation

Tech Specs

Number of Fingers Three (3) fingers and a thumb
Degrees of Freedom 4 fingers x 4 = 16
Type DC Motor
Gear Ratio 1:369
Max. Torque 0.70 (Nm)
Overdrive Torque 0.29 (Nm)
Finger 0.17 (kg)
Thumb 0.19 (kg)
Total 0.90 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Type CAN
Frequency 333 (Hz)
Payload 0.5 (kg) for each finger, 1.5 (kg) total


Anonymous user #1

9 days ago
Score 0+

So, just choose any of our call girls service and take complete entertainment without any of the issues. And we make sure you get full entertainment with complete fun. Visit More:


Anonymous user #2

one day 14 hours 56 minutes ago
Score 0+
Justru taruhan tersebut memberikan peluang menang besar kepada para penjudi. Bukan hanya satu keuntungan saja, melainkan ada beragam jenis profit yang bisa anda miliki. Di judi bola, terdapat pasaran terbaik. Pasaran judi SBOBET WAP memberikan dukungan pengalaman berjudi yang lebih mumpuni. Anda sebagai pemula yang belum memiliki pemahaman terhadap dunia judi SBOBET WAP, dapat mengasah kemampuan yang jauh lebih meningkat ketika berhasil mencoba satu per satu pasarannya. Sudah pasti target anda dalam berjudi adalah memenangkan taruhan, bukan? <a href="">link sbobet</a>

Anonymous user #3

13 hours 42 minutes ago
Score 0+
This is a very nice article. I am a regular reader of your blog. Very nice setup of the article, thanks for sharing. I found so many interesting things related to gaming software for a gamer if you want to see then kindly click on <a href="https://www....ser/Alanb70/"> download dolphin emulator </a>

Anonymous user #4

6 hours 21 minutes ago
Score 0+
เกมสล็อต ค่าย Pg วันนี้จะมาแนะนำเกมสล็อตยอดฮิตทั้งหมด 7 เกมที่กำลังได้รับความนิยมเป็นอย่างมาก ด้วย ภาพ เนื้อหาของเกม และที่สำคัญแตกง่ายมากๆ อีกด้วย กับ สล็อต 2022
Add your comment
Allegro Hand welcomes all comments. If you do not want to be anonymous, register or log in. It is free.

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

Wiki maintained by Sean Yi <>

KitechLogo.jpg Wonikrobotics logo.png

Whos here now:   Members 0   Guests 2   Bots & Crawlers 0