Robot hand

Wonik Allegro Hand V4

A four-finger research hand with 16 independently controlled motorized joints. It provides current-based control and communicates over CAN.

Records last verified Oct 13, 2026 · Send a correction

CommercialWonik RoboticsReleased / introduced: —

Specifications

— means unknown or not disclosed. Notes preserve variant and measurement conditions.

Official — stated by the manufacturer or organizerReported — stated by a credible third partyEstimated — derived or approximate

Specification	Value, confidence & sources
Fingers	4Official — stated by the manufacturer or organizer Wonik Robotics [s1] ↗ Conditions & notes Three fingers plus thumb.
Degrees of freedom	16 DoFOfficial — stated by the manufacturer or organizer Wonik Robotics [s1] ↗
Actuated degrees of freedom	16 DoFOfficial — stated by the manufacturer or organizer Wonik Robotics [s1] ↗
Weight	1.08 kgOfficial — stated by the manufacturer or organizer Wonik Robotics [s1] ↗ Conditions & notes Total hand mass.
Maximum grip force	—
Fingertip force	—
Payload	5 kgOfficial — stated by the manufacturer or organizer Wonik Robotics [s1] ↗ Conditions & notes Published payload; grip and test conditions not stated.
Tactile sensing	—
Actuation	Electric DC motorsOfficial — stated by the manufacturer or organizer Wonik Robotics [s1] ↗
Interface	CAN; 333 Hz stated communication rateOfficial — stated by the manufacturer or organizer Wonik Robotics [s1] ↗

Published price

— Price not disclosed in the checked sources.

Officially documented robot associations; notes identify the configuration and whether the component is optional.

No official association with a robot in this catalog was established in the checked sources.

Evidence