project specification

Allegro Hand

A robotic hand with four fingers and sixteen independent current-controlled joints intended as a platform for grasp and manipulation research. The Allegro anthropomorphic hand was designed to be lightweight and portable. The hand allows for low-cost dexterous manipulation that can be applied to both research and industry. The hand was developed along with multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries.

Overview

The Allegro anthropomorphic hand was designed to be lightweight and portable. The hand allows for low-cost dexterous manipulation that can be applied to both research and industry. The hand was developed along with multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries. It is capable of holding up to 1.5kg and has 16 independent current-controlled joints.To help researchers there is the possibility of real-time control and online simulation. 

  • Degrees of freedom: 16
  • Max Torque: 0.17 Nm
  • Finger Weight: 0.17 Kg
  • Thumb Weight: 0.19 Kg
  • Total Weight: 1.08 Kg
  • Max Payload: 5 Kg
  • Power Requirement: 7.4 VDC, 5A minimum

References

Wevolver 2022