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Wonik Robotics logoWonik Robotics

Allegro Hand

Price
Unknown
Type
Components · Dexterous Hands
Status
Unknown
Availability
Not disclosed
Release Date
Unknown
Country/Region
South Korea
Latest parameter verification
2026-10-30
16 DOF
Active degrees of freedom
16
Mechanical joint count
1.08 kg
Hand weight
4
Finger count

Wonik Robotics Allegro Hand V4 is an anthropomorphic dexterous hand for research and industrial grasping. It has four fingers, 16 independent torque-controlled joints, DC-motor actuation, CAN communication, 24 V and 100 W power requirements, and ready-to-use grasping algorithms.

1 / 1Allegro Hand V4

Technical specifications

Model specifications are shown below. Configuration-specific values are listed separately; missing data does not mean zero or unsupported.

Degrees of freedom and drive

Finger count
4
Actuator technology
DC motor
Active degrees of freedom
16 DOF
Mechanical joint count
16
Total degrees of freedom
16 DOF
Transmission mechanism
Gear reduction

Motion and coordination

Coordination architecture
16 independent torque-controlled joints
Energy domain
DC
General Payload
5 kg
Peak Joint Output Torque
0.70 N·m

Mechanical and mounting

Hand weight
1.08 kg

Mechanical Structure

Dexterous Hand
anthropomorphic dexterous robotic hand
Dexterous Hand Model
Allegro Hand V4
End-Effector
anthropomorphic robotic hand
Gear Ratio
369
Joint Encoder
Potentiometer
Joint Encoder Resolution
0.002 deg nominal
Joint Type
independent torque-controlled joint
Operating voltage
24 V
Rated power
100 W

Battery and Runtime

Power Supply
24 Vdc

Compute Platform

Software Algorithm
multiple ready-to-use grasping algorithms

Interaction and Communication

Communication
CAN

Development and Expansion

Secondary Development (SDK)
C++ API, ROS1 API and ROS2 API

Configurations

Standard

Communication and control

Communication interface
CAN
Communication protocol
CAN
Control mode
Torque-controlled

Sensing

Proprioceptive feedback
Potentiometer

Commercial Status

Status
Unknown
Price
Unknown
Release Date
Unknown
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