With 20 degrees of freedom (DOF), fingertip touch sensors, and multiple force and position sensors, Shadow Robot's Dexterous Hand is one of the most sophisticated and human-like. In addition to the 20 actuated DOF, the hand also has four under-actuated movements. Each joint has position sensors and each actuator has force sensors. The Dexterous Hand also contains sensors for detecting temperature, motor current, and voltage. The range of movements of each of the 24 joints is very similar to a human hand's, including the idosyncratic movements of the thumb's articulation and how the palm flexes to control the little finger. The palm also contains a control board for add-on capabilities. A total of 129 sensors provide data or manipulation control via a high-bandwidth EtherCAT interface. The Hand runs the open-source Robot Operating System (ROS).
(Source: Shadow Robot)