Here is a tendon-driven humanoid robot that can be made with 3D printed parts and off-the-shelf components. It has 5 fingers and 15 DOF to achieve human-like grasps. This robot hand costs less than $1300 to build. It can be assembled in under 7 hours. It can be teleoperated with a MANUS MoCap Glove.
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As you can see in the above videos, this robot hand can handle a saw, open up a nutella jar, and do other common tasks. RUKA can run for 20 hours without overheating. RUKA is open source. You can find out more here.
RUKA: Rethinking the Design of Humanoid Hands with Learning
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