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（ 0.17 kg / 0.19 kg）
Payload	5 kg
Actuation	DC 1:369
Active DoF	16（4 ×4）
Communication	CAN，333 Hz
Max Joint Speed	0.11 s/60°
Joint Resolution	0.002°
Max Joint Torque	0.70 N·m

Dexterous Hand Wonik Robotics Allegro Hand V4 Research platforms

https://www.allegrohand.com/sub/product/p.php?idx=1

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