Allegro Hand V4

For more than a decade the Allegro Hand V4 has been a standard fixture in manipulation labs; Wonik Robotics in Seongnam counts over 180 research partners across the Allegro family. The four-finger hand offers 16 active degrees of freedom, four per finger, driven by 16 DC motors through 1:369 gearing. Each finger weighs 0.17 kg, the thumb 0.19 kg and the complete hand 1.08 kg.

Payload is 5 kg, maximum joint torque 0.70 Nm and a 60-degree joint sweep takes 0.11 s. Potentiometers in every joint resolve 0.002 degrees nominally; there are no tactile sensors. Torque control runs over CAN at 333 Hz, with 24 V supply and 100 W power. Wonik positions the V4 as the cost-effective member of the family but publishes no price, so it is on request.

The later Allegro Hand V5 Plus adds current control and fingertip pressure sensing and Allegro Hand V6 F a fifth finger, yet the V4 remains the baseline in countless grasp-learning papers alongside the open LEAP Hand.