Meet the Shadow Dexterous Hand: an advanced robotic hand with 20 actuated DOF that can be used on a wide variety of robot arms. It can be used for teleoperation and various other tasks. The Hand has 129 sensors in total and is fully compatible with ROS.
The manufacturer is also making an air muscle actuated version of the Hand available. With BioTac tactile sensors, you can get more “detailed force, micro-vibration and temperature gradient sensing.”