Allegro Hand

A South Korean four-fingered, 16-DOF dexterous hand from Wonik Robotics, a staple in academic research.

The Allegro Hand is a commercial dexterous hand made by South Korea's Wonik Robotics: four fingers with four joints each, for 16 degrees of freedom total, with each joint driven by its own motor and controllable by current (torque), communicating over a CAN bus at about 333 Hz. It costs far less than a Shadow Dexterous Hand, and with ready-made ROS drivers and simulation models, it has long been a standard platform in academia for in-hand manipulation, dexterous grasping, and sim-to-real transfer research. Its limitation is having only four fingers — one fewer than a human hand — and relatively low torque per joint. According to the manufacturer, the newer V5 generation adds tactile sensors to the fingertips.

ExampleThe HORA method trains a policy with reinforcement learning in simulation and transfers it to the real robot, letting an Allegro Hand continuously rotate a variety of objects in its grasp using only proprioception.

Also called

Allegro

Related

Dexterous Hand · LEAP Hand · Shadow Dexterous Hand · In-hand Manipulation · HORA · Dexterous Manipulation

Sources

Allegro Hand 官网（Wonik Robotics） (Chinese)
Allegro Hand v4.0 - Wonikrobotics Wiki

As of

2026-09