The Allegro Hand V4 is a four-fingered robotic hand from Wonik Robotics built as a platform for grasping and manipulation research. Three fingers and a thumb provide sixteen active, independently torque-controlled joints driven by DC motors through 1:369 gearing, with a maximum joint torque of 0.70 Nm and a maximum joint speed of 0.11 seconds per 60 degrees. Joint position is measured by potentiometers with 0.002-degree nominal resolution, and the hand communicates over CAN at 333 Hz. Wonik Robotics publishes official C++, ROS 1 Noetic and ROS 2 Humble control APIs.
- Company
- Wonik Robotics
- Country
- South Korea
- Status
- Commercial
- Generation
- —
- Category
- End Effector
