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 DOF ea.)
  • Allegro Application Studio integration allows for simulation based algorithm prototyping without ever changing your code
  • Support for real-time control and online simulation

AH 4pics.jpg

Tech Specs

Number of Fingers
Three (3) fingers and a thumb (1) = 4
Degrees of Freedom
4 fingers x 4 = 16 (Active)
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 1.20 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Type CAN
Frequency 333 (Hz)
0.5 (kg) for each finger, 1.5 (kg) total
Power Requirement
7.4VDC (7.0V - 8.1V), 5A Minimum


System Requirements

Intel® Core™2 Duo or higher
at least 2GB
at least 2GB
OpenGL 3.0 H/W Acceleration enabled
with at least 64Mb of video RAM
MS Windows® XP,
MS Windows® Vista,
MS Windows® 7
Additional S/W
MS Visual Studio®
CAN Interface
NI, Softing, Kvaser or ESD CAN
Note: Any CAN interface can be user-configured for use with the Allegro Hand.



The Allegro Hand comes with its own version of Wonik Robotics's Allegro Application Studio (AAS), a robotics software for developing and testing control algorithms for a variety of commercial robots. AAS for the Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab. Algorithms developed can be applied to the virtual hand as well as directly to the real hand with and changes to the code.

In the Box

  1. Allegro Hand (Left or Right)
  2. Allegro Hand Application Studio (AHAS) Download Instructions
  3. AHAS single-user license
  4. Allegro Hand stand
  5. CAN/Power cable (terminated on hand-end only)
  6. 2mm hex wrench
  7. Spare screws

Optional: (see below for details)

  1. Power Supply
  2. Protective Plastic Carrying Case
  3. RoboticsLab Software

Purchasing Options

CAN Interface

The CAN Interfaces supported by AHAS out-of-the-box include:

  • National Instruments' (NI) USB-8473s High-Speed CAN
  • Softing's CAN-AC2-PCI
  • Kvaser's PCIcan 4xHS
  • ESD's CAN-PCI/266

Note: A CAN Interface is not included with the Allegro Hand. If you need some guidance while choosing one, please feel free to contact us.

Power Supply

A power supply designed specifically for the Allegro Hand.


A hard plastic carrying case can also be purchased for storing and transporting your Allegro hand.

AH wBox.jpg


Paired with our RoboticsLab development environment, the user can take full advantage of robust dynamics and system control engines as well as out feature-rich controls SDK. RoboticsLab also enables users to easily model custom robots and test environments in 3D and add built-in and custom sensors, actuators and other dives. RoboticsLab provides the flexibility necessary to prototype and test control algorithms for any system.

Wonik Robotics provides the Allegro Hand and RoboticsLab separately. The cost of RoboticsLab is 10,000 USD for academic use (one license). RoboticsLab is a complete robotics research framework that allows the roboticist to model and control robotic system simulations and actual hardware in hard realtime. RoboticsLab provides you with SDKs full of tools for creating advanced but user friendly applications for developing and verifying your system. It also includes a robust and adaptable control SDK to help you focus on your specific application rather than low level controls. Fully integrated, RoboticsLab is the easiest way to get the Allegro Hand up and running with your own controllers and allows the seamless integration of any sensors or robotic arms you may add to the system in the future.

You can read more at http://wonikrobotics.com/RoboticsLab.htm.

and RoboticsLab website.


For a quote or any other inquiry, please contact us!


address 5F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA
phone +82-2-3471-2014
fax +82-2-6280-9931
email info@wonikrobotics.com


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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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