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

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.

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

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.

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

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

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

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.

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

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.

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

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.

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

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.

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

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

The Allegro Hand V4 is a lightweight, dexterous robotic hand with 4 fingers and 16 independent torque-controlled joints, designed for advanced grasping, manipulation research, and robotics development. It supports real-time control via CAN at high frequency, enabling complex motions, learning-based control, and human-inspired grasping. Compact and adaptable for desktop or arm-mounted use, it facilitates studies in embodied AI, teleoperation, and dexterous manipulation without hardware setup burdens.

Manufacturer

Wonik Robotics

Rating

☆☆☆☆☆(0.0)

Launch Year

2024

Price

USD 24,500

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Robot Specifications

Total Degrees of Freedom

16 (4 fingers × 4 DOF)

DOF Per Finger

Hand Type

anthropomorphic

Hand Name

Allegro Hand V4

Thumb Config

opposable

Finger Link Segments

3 segments per finger

Finger Joint Types

revolute, tendon-driven

Materials

high-strength alloys, composites (lightweight industrial materials)

Carrying Capacity (Per Arm)

5000

Max Grip Force (Pinch)

15 (Derived from 0.70 N·m max torque and gear ratio, scaled to pinch grasp)

Max Grip Force (Power)

45N

Supported Grasp Types

pinch, power, precision, hook (via independent joint control and research demos)

Object Size Range

5-160

Image Gallery

Below images are from Wonik Robotics's official sources

Review Videos

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Frequently Asked Questions

Get answers to common questions about this robot

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

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**.

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

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.

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Allegro Hand V4

Robot Specifications

Kinematic Architecture & Dexterity

Manipulation & Load Capacity

Image Gallery

Review Videos

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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?

User Comments (No Login needed)