Allegro Hand V6 V
palm pressure sensing to detect diverse contact information and support precise manipulation.
How It Works
Product Features
Product Spec
Combining vision-based tactile sensing and palm pressure sensing to detect diverse contact information and support precise manipulation.
The Vision-based Tactile Sensor at the fingertip detects contact with objects through image-based sensing and converts the contact data into visual information for the user.
Separately, the pressure sensor in the palm detects contact at the palm. Each sensing technology provides its own contact information during grasping and manipulation.
A Vision-based Tactile Sensor detects physical contact as an image, not as a simple pressure value.
Its sensing surface is made of a soft elastomer that deforms according to the shape of the contact area when an object touches the sensor. An internal camera and illumination system capture this deformation, so the contact between the object and the sensor is visualized as a tactile image.
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.
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 | 1,150 g | |
| Joint Resolution | 0.088 deg | |
| Communication | Interface | RS-485, Ethernet |
| Protocol | Modbus (RTU, TCP), RS-485 Custom | |
| Tactile Sensor | USB Type-C - USB 2.0 High-Speed *The tactile sensor is independent from RS-485/Ethernet. |
|
| Power Requirement | 24.0 V / 5.0 A / 120 W | |
| Tactile Sensor *Vision Sensor (Gelsight) |
Sensor Type | Vision-based Tactile Sensor |
| Image Stream | VGA: 640 × 480 @ 15 / 30 fps QVGA: 320 × 240 @ 30 / 60 fps |
|
| Output | Color Tactile Image (Contact Geometry) | |
| Interface | USB 2.0 | |
| Device Identification | Unique Serial Number | |
| Palm Sensor *Pressure Sensor |
Pressure Operating Range | 260 to 1260 hPa (Atmospheric pressure is 1,013.25 hPa) |
| Temperature Operating Range | 0~60 ℃ | |
| Pressure Accuracy | 1 hPa | |
| 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 | |
