The Torobo is a humanoid robot with torque sensors in its arms and waist joints that can be used to automate tasks that involve interacting with various objects. The Torobo Hand is a human sized multi-fingered robotic hand with 16DOF that has 200 pressure sensors. It is ROS compatible. The below video shows it in action:
As you can see in this video, this robot can handle cups, open boxes, scan things, and a lot more.
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