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

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.

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

Protective Case

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

AH wBox.jpg


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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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