Wonik Allegro Hand V4 Dexterous Hand
Vendor: Wonik Robotics
Product: Allegro Hand V4
Cost-effective research-grade four-finger hand from Wonik Robotics with 16 independently torque-controlled joints (4 DoF per finger) and 1.08 kg total weight (0.17 kg fingers, 0.19 kg thumb) at 5 kg payload. DC-motor drive with 1:369 gear ratio, 0.70 N·m max joint torque and 0.11 s/60° max speed; potentiometer joint resolution of 0.002°, CAN communication at 333 Hz and 24 VDC/100 W power, widely used for grasp and manipulation research.
| power | 24 VDC / 100 W |
| weight | 1.08 kg（手指 0.17 kg / 拇指 0.19 kg） |
| fingers | 4（含拇指） |
| payload | 5 kg |
| actuation | DC 电机，减速比 1:369 |
| active_dof | 16（4指×4） |
| communication | CAN，333 Hz |
| max_joint_speed | 0.11 s/60° |
| joint_resolution | 电位器 0.002° |
| max_joint_torque | 0.70 N·m |