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

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

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.



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.

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. Spare parts and tools

InTheBox.jpgBox contents.png

Allegro Hand v4.0

AllegroManualIcon.jpg File:V4 AllegroHandUsersManual 1.1.pdf

Allegro Hand v4.0 programs

Software Git Repository

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

Allegro Hand CAD File

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

Getting Started for v4.0

File:AllegroHand - Troubleshooting & FAQ V1.01.pdf


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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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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