Question 1

1.What is the grip strength or payload capacity of the Allegro Hand V4?

Accepted Answer

The Allegro Hand V4 has a payload capacity of up to **5 kg**, depending on the object, grasp type, mounting, and safety margins; individual joints provide a maximum torque of **0.70 N·m**.

Question 2

2.How many fingers and degrees of freedom (DOF) does the Allegro Hand V4 have?

Accepted Answer

It features **4 fingers** (including a thumb) with **16 active degrees of freedom** (4 DOF per finger), enabling dexterous manipulation through independently torque-controlled joints.

Question 3

3.What are the physical specifications like weight and size of the Allegro Hand V4?

Accepted Answer

The hand weighs approximately **1.1–1.2 kg** total (fingers ~0.17 kg each, thumb ~0.19 kg) and has a human-hand scale size of roughly **18–22 cm** in length.

Question 4

4.What is the pricing for the Allegro Hand V4?

Accepted Answer

Prices range from **€23,250** to **$24,500** depending on the vendor, configuration (e.g., left or right hand), and availability, which may be on backorder.

Question 5

5.What communication protocols and control frequencies does the Allegro Hand V4 support?

Accepted Answer

It uses **CAN communication** with a high control frequency of **333 Hz** for real-time torque control, powered by DC motors with a gear ratio of 1

Question 6

Is the Allegro Hand V4 compatible with robot arms or other systems, and what about sensors?

Accepted Answer

Yes, it integrates easily with robot arms for desktop or mounted rigs, supporting diverse grasping algorithms; tactile sensor add-ons like XELA's uSkin (e.g., 312 tri-axial sensors) are available for flat or curved fingertips, phalanges, and palm, with custom pricing.

Question 7

6.What SDK or programming options are available for the Allegro Hand V4?

Accepted Answer

It supports real-time control for research in dexterous manipulation, learning-based control, and embodied AI, with high control frequency and joint potentiometers (0.002° resolution); official SDK details are on the manufacturer's site, optimized for grasp/manipulation prototyping.

Question 8

7.What are common use cases for the Allegro Hand V4?

Accepted Answer

Primarily for **research and development** in advanced grasping, manipulation, human-inspired motions, and embodied AI; suitable for academia, R&D prototyping, and testing complex motion strategies on robot arms or rigs.

Question 9

8.What maintenance is required for the Allegro Hand V4?

Accepted Answer

As a lightweight hand with DC motors and potentiometers, routine checks on joints, cabling, and torque control are advised; confirm scope of delivery (varies by supplier) and validate payload in applications; no built-in tactile sensors, but add-ons require calibration.

Question 10

9.What safety features does the Allegro Hand V4 have, and how is it powered?

Accepted Answer

Torque-controlled joints with max speed of **0.11 s/60°** and payload limits enhance safety; operates at **12–24 VDC** with ~100–120 W power; validate grasp safety margins per application, especially with add-on soft tactile skins for gentle interaction.

Allegro Hand V4

Robot Specifications

Hand Type

Intended Robot Type

Number of Fingers

Status

Thumb Config

Total DOF

DOF Per Finger

Independent Actuators

Underactuated Design

Palm Width (mm)

Hand Length (mm)

Hand Thickness (mm)

Weight (g)

Materials

Finger Link Segments

Finger Joint Types

Actuator Type

Actuator Location

Available Countries

Image Gallery

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Frequently Asked Questions

Q1.What is the grip strength or payload capacity of the Allegro Hand V4?

Q2.How many fingers and degrees of freedom (DOF) does the Allegro Hand V4 have?

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