The Allegro Hand V4 from Wonik Robotics is a cost-effective and highly adaptive robotic hand with four fingers (three fingers plus one thumb) and sixteen independent torque-controlled joints. It uses DC motors with a 1:369 gear ratio and 0.70 Nm maximum torque, with CAN communication at 333 Hz. Each finger weighs 0.17 kg and the thumb weighs 0.19 kg, for a total weight of 1.08 kg. It has a 5 kg payload and requires 24V/100W power. It is designed for grasp and manipulation research and education, with research collaborations including Meta FAIR for advancing touch perception and human-robot interaction.