Robert Allen of Hampshire Co. (now Mineral Co.), VA/WV died in 1816. Two of his children for whom I have certain birthdates were born in 1776 and 1780. He did have sons named William and Samuel, but both married and died childless.
He was associated in court records with a Thomas and Arthur Allen, but I do not know the relationship. It is not inconceivable that Samuel could have been a brother of Robert's. The only Samuel Allen I find in the Sage and Jones book is Robert's son Samuel who died in 1842.
I wish I could be more helpful, but it certainly looks possible.