Allegro Hand V5 Sense
The Allegro Hand V5 Sense is equipped with
16 pressure sensing channels to capture detailed force
distribution for precise tactile feedback.
16 pressure sensing channels to capture detailed force
distribution for precise tactile feedback.
Provides adduction and abduction capability of the fingers, enabling more natural and versatile grasping similar to a human hand.
How It Works
Product Features
Product Spec
Technology
Technology Overview
- Low-cost dexterous manipulation with applications in research and industry
- Multiple ready-to-use grasping algorithms capable of handling a variety of object geometries
- 16 independent current-controlled joints (4 fingers × 4 DOF ea.)
- Support for real-time control and online simulation
- Omnidirectional tactile sensors applied to each fingertip, enabling various research applications
Sensor Color
Fingertip Pressure Sensor
- Stiffness similar to a human hand
- Increased number of sensing points (16-point)
- The color changes based on tactile sensitivity (only fingertip)
- Air pressure measurement method using a capacitive pressure sensor
- Capable of flexibly manipulating objects, from rigid to deformable soft materials
*Note: The new model is equipped with Temperature Compensation.
Please note that sensor values differ from the existing model due to this functional change.
Design
Fingertip Type
- The fingertip was redesigned with a sharper, human-inspired shape to improve manipulability for small objects
- The rear side serves as a mechanical structure, while the front is dedicated to pressure sensing to enhance grasping and fine manipulation performance
Sensor
Real-time hand status monitoring
Real-time visualization of contact and pressure for stable, precise manipulation.
Finger Joint Sensor
Fingertip Sensor
Combined Sensor View
Interface
Intuitive joint gain tuning interface
An application designed to adjust every joint angle and precisely control vibration response.
| Number of Fingers | 3 Fingers + 1 Thumb = 4 | |
|---|---|---|
| Degrees of Freedom | 4 Fingers × 4 = 16 (Active) | |
| Actuation | Type | DC Motor |
| Gear Ratio | 288.35:1 / 576.7:1 (2nd joint of the finger excluding the thumb) | |
| Stall Torque | 0.92 Nm / 1.84 Nm (2nd joint of the finger excluding the thumb) | |
| Nominal Torque | 0.23 Nm / 0.46 Nm (2nd joint of the finger excluding the thumb) | |
| Payload | 15 kg (Depending on the measurement method) | |
| Weight | 1,240 g | |
| Joint Resolution | 0.088 deg | |
| Communication | Type | CAN, Ethernet (Planned support) |
| Frequency | 333 Hz (CAN) | |
| Power Requirement | 24.0 V / 5.0 A / 120 W | |
| Finger Tactile Sensor *Pressure Sensor |
Pressure Operating Range | 0 ~ 400 kPa |
| Color Indicator |
Returns '0' at atmospheric pressure (101.3 kPa) Blue: 0~5 kPa Cyan: 5~10 kPa Green: 10~20 kPa Yellow: 20~30 kPa Red: 30~40 kPa |
|
| Temperature Operating Range | 0~60 ℃ | |
| Pressure Accuracy | 0.1 kPa | |
| Joint Tactile Sensor *Pressure Sensor |
Pressure Operating Range | 0 ~ 400 kPa |
| Temperature Operating Range | 0~60 ℃ | |
| Pressure Accuracy | 0.1 kPa | |
