Features

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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)
Actuation
Type DC Motor
Gear Ratio 1:369
Max. Torque 0.70 (Nm)
Overdrive Torque 0.29 (Nm)
Weight
Finger 0.17 (kg)
Thumb 0.19 (kg)
Total 1.20 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Communication
Type CAN
Frequency 333 (Hz)
Payload
0.5 (kg) for each finger, 1.5 (kg) total
Power Req.
7.4VDC (7.0V - 8.1V), 5A Minimum


HandDimensions.jpg

System Requirements

CPU
Intel® Core™2 Duo or higher
RAM
at least 2GB
HDD
at least 2GB
Graphics
OpenGL 3.0 H/W Acceleration enabled
with at least 64Mb of video RAM
OS
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.


Product

AllegroLogo.jpg

The Allegro Hand comes with its own version of SimLab'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 without any changes to the code.

For more information, please visit our Allegro Application Studio website.

In the Box

  1. Allegro Hand (Left or Right)
  2. Allegro Hand Application Studio (AHAS) Install CD
  3. AHAS single-user license
  4. Spare screws
  5. CAN/Power cable (terminated on hand-end)

Optional: (see below for details)

  1. CAN interface
  2. Power Supply
  3. Protective case
  4. RoboticsLab Software


Purchasing Options

CAN Interface

A pre-reconfigured CAN interface can be purchased along with the Allegro Hand. The CAN interfaces available through SimLab include:

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

Power Supply

A power supply designed specifically for the Allegro Hand.

Protective Case

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

AH wBox.jpg

RoboticsLab

RoboticsLabLogo.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 devices. RoboticsLab provides the flexibility necessary to prototype and test control algorithms for any system.

For more information, please visit our RoboticsLab website.




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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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