Meet the UT Hand Exoskeleton: a 3D printed, cable-driven device designed for rehab and teleoperation. It consists of thumb, index, and middle finger exoskeletons. It has 8 actuated DOF and uses a 4-bar mechanism to avoid joint misalignment.
This 3D printed wearable can be used to grasp and hold items. It has 16 embedded sensors for torque and angle sensing. Reneu Lab has more on this exoskeleton.