Most robotic hands are capable of performing handshakes in one shape or form. They are not always capable of doing it with human-like agility though. The Laval University Robotics Lab has demonstrated a prototype that produces a realistic human-robot handshake.
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Haptic robotic hand performing human-robot handshake with human-like agility
The hand is mounted on a 7DOF manipulator. The above video shows the fingers and palm mechanism in action.
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