Hardware

Allegro Hand

The Allegro Hand is a four-fingered, sixteen-degree-of-freedom anthropomorphic robotic hand from Wonik Robotics, with four independently actuated joints per finger. Its relative affordability and open low-level torque control interface made it a de facto standard research platform for dexterous manipulation, appearing in reinforcement learning work on in-hand reorientation and in tactile sensing research where fingertips are retrofitted with sensors.

Why it matters for physical AI

Shared platforms like the Allegro Hand make dexterous manipulation results comparable across labs, and its torque-controllable joints suit the contact-rich reinforcement learning experiments driving in-hand skill progress.