Wonik Robotics Allegro Hand (V4 / V5 / V6) price & specs

Wonik Robotics (South Korea) Allegro Hand (V4 / V5 / V6) (1)

Wonik Robotics (South Korea) Allegro Hand (V4 / V5 / V6) (2)

Wonik Robotics (South Korea) Allegro Hand (V4 / V5 / V6) (3)

$9,910 (V4)

AvailablePython from a laptop16 DOFTorque-controlled jointsROS 2 driversIn MuJoCo Menagerie

Possibly ≤ 1 weekShipping: 5–10 days (Knoxlabs) to 4–6 weeks.

Remote control: A Linux PC on the CAN bus runs Wonik's ROS 2 driver, so Python or C++ nodes send joint torques or positions and read joint states. V6 adds Modbus over Ethernet.

LEARN MORE (Allegro Hand, official site) ↗

Overview

The standard mid-priced research hand, with torque-controlled joints, official ROS 2 drivers and models in every major simulator.

The Allegro Hand is a four-finger research hand from Wonik Robotics (formerly SimLab), based on technology licensed from Korea's KITECH institute. Its first version reached labs around 2012 (unconfirmed). It became a common platform for in-hand manipulation research, including NVIDIA's DeXtreme cube-reorientation work and Haozhi Qi's HORA in-hand rotation. Meta FAIR partnered with Wonik on a tactile-sensing Allegro Hand built on its Digit Plexus platform.

Each finger has four joints, each with its own geared DC motor and current control, so joints can be commanded by torque. The V4 is the long-running classic model. The V5 family adds stronger joints and pressure-based tactile fingertips, and V5 Sense adds 16 sensing channels with abduction. The newest V6 moves to five fingers and 20 DOF with Modbus control. The hand has no wrist. It costs several times more than LEAP Hand, which was designed as a cheaper alternative.

Type: Robot hand or gripper · Research & humanoid hands
Maker: Wonik Robotics (South Korea)
Released: 2012
Price: $9,910 (V4)
Status: Available
Best for: Professionals & labs
Programming: Full SDK

Price and shipping

Knoxlabs (US distributor) lists per-hand prices from $6,650 (3-finger V5), $9,910 (V4), $12,040 (V5 Plus), $14,300 (V5 Sense), $16,560 (V6 F) and $19,820 (V6 V). Prices include a provisional import allowance, with freight extra and final pricing on request. Robotics Center lists the V5 Sense at $13,000 (backorder). Checked October 2026.

Shipping: 5–10 days (Knoxlabs) to 4–6 weeks. Knoxlabs, the US distributor, quotes shipping within 5–10 days but asks buyers to confirm stock, handedness and lead time first. Robotics Center lists the V5 Sense on backorder with 4–6 week delivery. Wonik also sells through a regional sales network. Knoxlabs ↗

Specifications

Category	Robot hands & grippers · Research & humanoid hands
Released	2012
Country	South Korea
Availability	Available
Programmability	Full SDK
Built-in autonomy	None / scripted · Moves only when controlled, or plays preset motions
LLM support	Possible via SDK · No built-in LLM. The official ROS 2 drivers and C++ library let an LLM-driven program on the host PC command the hand.
MuJoCo simulation	Official model · In MuJoCo Menagerie (wonik_allegro, left and right Allegro Hand v3 models derived from the maker's URDF). MuJoCo Menagerie wonik_allegro ↗
NVIDIA Isaac simulation	Sim-to-real kit · Isaac Lab ships an Allegro asset and cube reorientation task. Wonik's own allegro_inhand_rotation repo trains in Isaac Gym and runs the policy on a real V4 through ROS 2. Wonik allegro_inhand_rotation ↗
Gazebo simulation	Maker URDF only · Wonik publishes URDF model files for the V4, which need setup for Gazebo. allegro_hand_model_v4 ↗
Best for	Professionals & labs
Vision sensors	No vision sensors
Actuators	DC / gear motors
Audio	No audio
Compute type	Laptop / PC as the brain
Remote control	Python from a laptop
Fingers	4 (3 fingers + thumb). V6 has 5, and a 3-finger V5 exists
DOF	16 actuated (V4, V5 Plus, V5 Sense), 20 on V6, 9 on 3-finger V5
Actuation	DC motors with reduction gears built into every finger joint (direct joint drive, no tendons), 1:369 on V4 and 288.35:1 on V5/V6
Grip force / payload	5 kg (V4), 15 kg (V5 Plus/Sense and V6), as measured by Wonik. Stall torque 0.92 Nm per joint on V5 (1.84 Nm at the 2nd finger joint), V4 max torque 0.70 Nm. Fingertip force up to 10 N per Robotics Center
Weight	1.08 kg (V4), 1,024 g (V5 Plus), 1,240 g (V5 Sense), 1,150 g (V6)
Sensors	Joint position sensing (potentiometers on V4, 0.088° resolution on V5), current-controlled joints, pressure-based fingertip tactile sensors on V5 Plus/Sense, plus joint and palm pressure sensors on V6 F, GelSight-style vision tactile fingertips on V6 V
Interface	CAN bus to a host PC (333 Hz on V4 and V5 Sense, 500 Hz on V5 Plus), 24 V / 100–120 W. V6 uses RS-485 or Ethernet with Modbus RTU/TCP
SDK	Official ROS 2 and ROS 1 drivers per version, Linux and Windows control code, BHand grasping library (also built for Jetson ARM), Allegro Hand UXD GUI, MoveIt support, teleoperation code

Common questions

How much does Allegro Hand cost?

Allegro Hand is listed at $9,910 (V4). Knoxlabs (US distributor) lists per-hand prices from $6,650 (3-finger V5), $9,910 (V4), $12,040 (V5 Plus), $14,300 (V5 Sense), $16,560 (V6 F) and $19,820 (V6 V). Prices include a provisional import allowance, with freight extra and final pricing on request. Robotics Center lists the V5 Sense at $13,000 (backorder). Checked October 2026.

Can Allegro Hand be bought today?

Yes, it is on sale. Typical shipping time is 5–10 days (Knoxlabs) to 4–6 weeks. Knoxlabs, the US distributor, quotes shipping within 5–10 days but asks buyers to confirm stock, handedness and lead time first. Robotics Center lists the V5 Sense on backorder with 4–6 week delivery. Wonik also sells through a regional sales network.

Who makes Allegro Hand?

Allegro Hand is made by Wonik Robotics (South Korea). It came out in 2012.

Can Allegro Hand be programmed?

Full SDK. Official ROS 2 and ROS 1 drivers per version, Linux and Windows control code, BHand grasping library (also built for Jetson ARM), Allegro Hand UXD GUI, MoveIt support, teleoperation code.