4-finger gripper (Allegro hand)

A photo of the robot hand with 4 fingers.

Two hands with four fingers and sixteen independent torque-controlled joints on each hand are attached to robot TOMM. They are able to hold up to 5 kg.

The hands are covered with the artificial robot skin. Here, each hand is covered with 62 cells that enable the robot perceive its surroundings and thus interact better with it.