Humanoid Robots - Manipulators
http://robothand.eu/

    Because of advanced technologies, intensive researches and unique solutions Gifu Hand III resembles real size human hand that can perform different tasks.
    The number of joints is the same as in real human hand: thumb has four joints and the other fingers have three joints each. In total there are sixteen joints in this hand.
   Six-axis force sensors can be mounted at the ends of the fingers. These sensors measure forces which are emerging at the ends of the fingers at the time of manipulation. In order to measure emerging forces additional sensor network can also be mounted in the area of palm.