Here is a tactile sensor integrated robot hand that can play the piano, pour drinks, and handle fragile items like humans. The Korea Institute of Machinery & Materials researchers developed this robot hand to be used with a wide variety of arms. It has 4 fingers and 16 joints.
The robot hand has payload of more than 3kg. It has force sensors to detect objects it is interacting with. Skin-type tactile sensors are attached to the fingers and palm to measure the force distribution upon contact. Dr. Hyunmin Do and his team are behind this robot hand.