Industrial arm / Cobot
For Allegro Hand V4 Flat
Specifications
- Palm sensors
- 72
- Thumb sensors
- 48
- U s pr thickness (mm)
- 6.6
- Normal force max gf
- 1500
- Finger sensors each
- 64
- Sensor thickness (mm)
- 4
- Axis per sensing point
- 3
- Sampling frequency hz
- 500
- Sensing point area mm2
- 16
- Tactile sensors total
- 312
- U s pa44 sensing points
- 24
- Fingertip sensors each
- 16
- Phalangee sensors each
- 16
- Normal force overload max gf
- 3000
- Sensing point resolution gf
- 0.1
Overview
Tactile-sensing robotic hand integration combining WONIK Robotics' Allegro Hand V4 with XELA's flat uSkin sensors. Features 312 tri-axial tactile sensors enabling 3-axis force measurement (shear and normal forces). Delivers 0.1 gram-force resolution at 500 Hz sampling. Soft, compliant skin handles fragile objects with minimal wiring and fast digital output.
Key features
- ▸312 tri-axial tactile sensors across hand (64 per finger, 48 thumb, 72 palm)
- ▸0.1 gram-force resolution for precise light touch detection
- ▸Compact sensing points (4×4 mm), thin sensors (4 mm+), curved customizable design
- ▸3-axis measurement: shear forces (X,Y) and normal force (Z) per sensing point
- ▸Soft, durable skin handles fragile objects; exchangeable sleeve design
- ▸500 Hz sampling frequency with minimal wiring via daisy-chained microcontrollers
- ▸CAN2USB integration, ROS/ROS2 compatible, Python/C++ support
- ▸Free standard calibration; optional individual calibration add-on
- ▸Temperature and magnetic field compensation via encapsulated microcontrollers
- ▸Custom integration services for brackets, cabling, signal validation, and parameter adaptation