This hand is almost exactly like a human hand. It has 20 joints with 15 degrees of freedom. and its fingers can exert 7.6 pounds of force. Its max length is 8.6 inches and it 2.43 pounds in length. And they have tested its grip on items and it crushed them all.

https://gizmodo.com/lifelike-robotic-hand-is-a-bit-too-close-to-terminator-1848213189