Allegro Hand V6 F
areas with precise control for seamless integration across a wide range of robotic systems.
How It Works
Product Features
Product Spec
Supports current and position commands, plus a High-Force Mode for tasks that require stronger, more secure grasping. Modbus communication enables flexible system integration.
contact areas - the Fingertips,
Joints, and Palm
Pressure sensors are strategically placed on key contact
areas, including the Fingertips, Finger Joints, and Palm,
to detect various types of contact that occur during
grasping and manipulation.
Visual feedback glows directly at each fingertip, making grasping
status immediately visible—intuitive, responsive, and always in view.
Supports multiple control modes, including current, position, and stiffness control. Modbus communication enables enhanced integration with a wide range of robotic and automation systems used in industrial and manufacturing environments.
Friction and temperature compensation algorithms minimize potential control errors caused by friction and temperature variations, enabling stable and precise hand control across diverse operating environments.
Fingers follow the enveloping configuration of the human hand, naturally distributing contact forces for stable grasping across a range of object shapes and sizes. The palm carries that same anatomical thinking further with a three-dimensional, contoured surface — rather than a flat mechanical plane — that increases contact area and improves grasp stability.
Integrated heatsink structures on the upper fingers manage the heat generated during high-load operation, seamlessly integrated into the finger structure. The full aluminum body delivers the rigidity, precision, and durability needed for sustained use, with organic curves inspired by human skeletal and muscular forms.
| Number of Fingers | 4 Fingers + 1 Thumb = 5 | |
|---|---|---|
| Degrees of Freedom | 5 Fingers × 4 = 20 (Active) | |
| Actuation | Type | DC Motor |
| Gear Ratio | 288.35:1 | |
| Stall Torque | 0.92 Nm | |
| Nominal Torque | 0.23 Nm | |
| Payload | Max. 15 kg | |
| Weight | 1,240 g | |
| Joint Resolution | 0.088 deg | |
| Communication | Interface | RS-485, Ethernet |
| Protocol | Modbus (RTU, TCP), RS-485 Custom | |
| Power Requirement | 24.0 V / 5.0 A / 120 W | |
| Tactile Sensor *Pressure Sensor |
Pressure Operating Range | Returns '0' at atmospheric pressure (101.3 kPa) 0 ~ 400 kPa |
| Color Indicator (Fingertip Only) |
Blue: 100 kPa (1000 hPa) under Cyan: 100~110 kPa (1000~1100 hPa) Green: 110 kPa (1100 hPa) Yellow: 110~120 kPa (1100~1200 hPa) Red: 120 kPa (1200 hPa) over |
|
| Temperature Operating Range | 0~60 ℃ | |
| Pressure Accuracy | 0.1 kPa | |
| System Requirement | CPU | Intel® CoreTM i3-8109U or higher |
| RAM | at least 2GB | |
| Storage | at least 2GB | |
| Graphics | OpenGL 3.0 H/W Acceleration enabled with at least 64Mb of video RAM | |
| OS | Ubuntu® 22.04 LTS & 24.04 LTS | |
| Additional S/W | ROS2 | |