#Torque Control (2)

Wonik Allegro Hand V4 Dexterous Hand

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.

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