In the past few years, we have covered a whole host of robots that have learned to do basic chores. The Shadow Dexterous Hand is a robotic hand with 20 actuated degrees of freedom and 24 joints. It can be used to pick and manipulate objects.
The Dexterous Hand is ROS integrated. It can be enhanced with the BioTac tactile sensor for force, micro-vibration and temperature gradient sensing. The above video shows how it can be used to work a folding fan.