Line 17: Line 17:
*Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
*Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
*Capable of holding up to 5kg
*Capable of holding up to 5kg
*16 independent current-controlled joints (4 fingers x 4 DOF ea.)
*16 (4 fingers x 4 DOF ea.) independent joints
*Support for real-time control and online simulation
*Each joint gets current command
*Support for real-time control

Latest revision as of 16:29, 29 December 2021

[edit] Features

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 5kg
  • 16 (4 fingers x 4 DOF ea.) independent joints
  • Each joint gets current command
  • Support for real-time control

AH 4pics.jpg

[edit] Tech Specs

Number of Fingers
Four (4) fingers, including thumb
Degrees of Freedom
4 fingers x 4 = 16 (Active)
Type DC Motor
Gear Ratio 1:369
Max. Torque 0.70 (Nm)
Max. Joint Speed 0.11 (sec/60dgree)
Finger 0.17 (kg)
Thumb 0.19 (kg)
Total 1.08 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Type CAN
Frequency 333 (Hz)
5 (kg)
Power Requirement
12~24V, 120W

HandDimensions 3.0.jpg

[edit] 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
MS Windows® 8
Ubuntu 10.04-12.10 (ROS)
Ubuntu 16.04 (ROS)
Additional S/W
MS Visual Studio®
CAN Interface
Note: Any CAN interface can be user-configured for use with the Allegro Hand.

[edit] Product


The Allegro Hand comes with a simple software for developing and testing control algorithms for a variety of commercial robots. There are Linux version and Windows version.

[edit] In the Box

  1. Allegro Hand (Left or Right)
  2. Power Supply
  3. Allegro Hand stand
  4. CAN/Power cable (terminated on hand-end only)
  5. Protective Plastic Carrying Case
  6. 2mm hex wrench
  7. Spare screws

Optional: (see below for details)

  1. RoboticsLab Software

InTheBox.jpgBox contents.png

[edit] Purchasing Options


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.

[edit] Allegro Hand v4.0

AllegroManualIcon.jpg File:V4 AllegroHandUsersManual 1.1.pdf

[edit] Allegro Hand v4.0 programs

[edit] Software Git Repository

windows : windows-project
linux : linux-project
ROS : ros-kinetic-AllegroHand

[edit] Allegro Hand CAD File

Please, email us if you need Allegro Hand CAD STP file.

[edit] Getting Started for v4.0

[edit] Purchasing

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


address 4F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA
phone +82-31-8038-9180
fax +82-31-8038-9190
email robotics.biz@wonik.com

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