Meet the ReFlex Hand: a robotic hand that can pinch and grasp using 4 Dynamixel motors. It is ROS compatible and uses 9 TakkTile sensors per finger. The unit weighs 800 grams and can be connected over Ethernet. It comes with adapter plates for Baxter and other popular robots.
Each sensor has 0.01N sensitivity with 50Hz sampling rate. This video provides more info on these robot hands: