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Allegro Hand



ROS Software Maintainer: K.C. Chang < kcchang@simlab.co.kr >

Allegro Hand ROS stack: allegro_hand_ros

IMPORTANT: This software is compatible with both 32-bit and 64-bit systems. Make sure to install the correct Allegro Hand Grasping library: libBHand

Tested and working on:

Ubuntu 12.04 LTS (kernel 3.2.0 - 3.13.0), ROS Fuerte
Ubuntu 12.04 - 14.04 LTS (kernel 3.13.0), ROS Groovy
ROS Indigo (and beyond) with this fork: https://github.com/felixduvallet/allegro-hand-ros

Note: Extremely unstable control on ROS Electric. Also, no rviz visualization.


Allegro Hand is a low-cost and highly adaptive robotic hand.
With four fingers and sixteen independent torque-controlled joints,
it's the perfect platform for grasp and manipulation research.

More information can be found on the Allegro Hand wiki:


See the README file included in the package.

Hardware and software documentation as well as purchasing information can be found on the Allegro Hand wiki:

Using ROS



See the Allegro Hand stack wiki page, allegro_hand_ros, for installation instructions.

catkin-compatible fork

An unofficial updated fork of the SimLab ROS package is available here. It is compatible with modern ROS versions (i.e. catkin), integrates everything into a single launch file, and provides several other improvements.


If you would like to contribute to the ROS software for SimLab's Allegro hand, please contact K.C. Chang < kcchang@simlab.co.kr >. Thank you.

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2019-10-12 12:23