Wonik Allegro Hand V4 Dexterous Hand
Vendor: Wonik Robotics
Product: Allegro Hand V4
The Allegro Hand V4 from Wonik Robotics (Korea) is a four-finger dexterous hand for grasp and manipulation research and education: 3 fingers plus an opposable thumb with 16 independent torque-controlled joints (4 per digit), driven by DC motors with torque/current control and a 1:369 reduction ratio, delivering 0.70 N·m max joint torque and 0.11 s/60° joint speed. It weighs just 1.08 kg total (0.17 kg per finger, 0.19 kg thumb), features 0.002° potentiometer resolution, 333 Hz CAN communication, 5 kg payload capacity, and runs on 24 V / 100 W. With full APIs and tutorials for Windows / Linux / ROS / ROS 2 and 180+ research partners publishing with the platform, it is one of the most widely used research dexterous hands.
| DoF | 16（ 4 ） |
| Type | dexterous-hand |
| Power | 24 V / 100 W |
| Weight | 1.08 kg（ 0.17 kg / 0.19 kg） |
| Fingers | 4（3 + ） |
| Payload | 5 kg |
| Software | Windows / Linux / ROS / ROS 2 API |
| Actuation | / 1:369 |
| Max Torque | 0.70 N·m |
| Joint Speed | 0.11 s/60° |
| Communication | CAN 333 Hz |
| Encoder Resolution | 0.002° |