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allegro hand_02.342129688

Allegro Hand V4

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

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Tech Info

Allegro Hand

CAD File

Joint Dimensions and Directions

Home Position Joint Angles

Allegro Hand Wiring and Connector Info

Fingertip Sensor Mounting Information

Ribbon Cable Replacement

Mounting Information

Link Masses

Joint Limits

CAN Protocol

API & Tutorials

Tutorials

C++

C++/ROS1

BHand library

Copyright & Trademark Notice
Allegro, the Allegro logo, RoboticsLab, the RoboticsLab logo, and all related files and documentation are Copyright ⓒ 2008-2024 Wonik Robotics Co., Ltd. All rights reserved. RoboticsLab and Allegro are trademarks of Wonik Robotics. All other trademarks or registered trademarks mentioned are the properties of their respective owners.

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

Any references to the BHand Library or the Allegro Hand Motion and/or Grasping Library refer to a library of humanoid robotic hand grasping algorithms and motions developed and published by KITECH researchers.
J.-H. Bae, S.-W. Park, D. Kim, M.-H. Baeg, and S.-R. Oh, "A Grasp Strategy with the Geometric Centroid of a Groped Object Shape Derived from Contact Spots," Proc. of the 2012 IEEE Int. Conf. on Robotics and Automation (ICRA2012), pp. 3798-3804

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