In order to put your robot to good use, you are going to need a dexterous robot hand for it. The INSIPRE Robots Dexterous Robot Hand is worth a look. It has 6 degrees of freedom and 12 joints. It also features integrated force sensing to provide real-time feedback for grip strength control. The RH56DFX robot hand has 3kg of load.
This robot hand supports ROS. When used with a hybrid force and position control algorithm, it can simulate human hand motion. The RH56DFX robot has sub-millimeter repeatability.