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Robotic Hand

Allegro Hand 
Highly Adaptive Robotic Hand for R&D

- Lightweight and portable anthropomorphic design

 

- Low-cost dexterous manipulation with applications

   in research and industry

 

- Multiple ready-to-use grasping algorithms

   capable of handling a variety of object geometries

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With four fingers and sixteen independent torque-controlled joints, it's the perfect platform for grasp and manipulation research.

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Allegro Hand Features

  • Lightweight and portable anthropomorphic design
     

  • ​Low-cost dexterous manipulation with applications in research and industry
    ​

  • Multiple ready-to-use grasping algorithms capable of handling a variety of object geometries
    ​

  • Capable of holding up to 5 kg
    ​

  • 16 independent torque-controlled joints (4 fingers x 4)
    ​

  • Allegro Hand Console Application for simulation-based algorithm prototyping and hardware testing
    ​

  • Support for real-time control and online simulation

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Wonik Robotics' Allegro Hand is based on licensed technology developed by the Humanoid Robot Hand research group at the Korea Institute of Industrial Technology (KITECH).

Images & Videos

Grasp-move

Cylinder grasping

Catching

Free grasping

Wiki

Please visit out Allegro Hand Users' Wiki to share successes and solutions.

Here you will find tutorials, documentation and a user forum

to get you started and quickly developing your own software for the Allegro Hand.

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Specifications

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Number of Fingers

Four (4) fingers including a thumb

Degrees of Freedom

4 fingers x 4 = 16

Actuation

Type

​Gear Ratio

Max.Torque

DC Motor

1:369

0.70 (Nm)

Mass

Finger

Thumb

Total

0.15 (kg)

0.21 (kg)

1.09 (kg)

Joint Encoder

Type

Resolution (nominal)

Absolute

0.002 (deg)

Communication

Type

Frequency

CAN

333 (Hz)

Payload

5 (kg)

Power Requirement

7.4VDC (7.0V - 8.1V), 5A Minimum

Purchasing Options

[Included]

 · Allegro Hand (left or right)

 · Allegro Hand Console Application(linux/Windows) Download Instructions

 · Allegro Hand Console Application(linux/Windows) single-user license

 · Allegro Hand stand

 · CAN/Power cable* (terminated at hand-end only)

 · 2mm hex wrench

 · Spare screws and wire terminals

 · Hard plastic case

 · Power supply

* A CAN Interface is not included with the Allegro Hand. If you need some guidance while choosing one, please feel free to contact us.

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
MS Windows® 8
Ubuntu 10.04-12.10 (ROS)

CAN Interface

NI, Softing, Kvaser or ESD CAN
Note: Any CAN interface can be user-configured for use with the Allegro Hand.

Other S/W

MS Visual Studio®

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