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（每指 4 个独立力矩控制关节） |
| type | dexterous-hand |
| power | 24 V / 100 W |
| weight | 整手 1.08 kg（手指 0.17 kg / 拇指 0.19 kg） |
| fingers | 4（3 指 + 对掌拇指） |
| payload | 5 kg |
| software | Windows / Linux / ROS / ROS 2 API 与教程 |
| actuation | 直流电机力矩/电流控制，1:369 减速比 |
| max_torque | 0.70 N·m |
| joint_speed | 0.11 s/60° |
| communication | CAN 总线，333 Hz |
| encoder_resolution | 0.002°（电位器） |