Meet ReFlex 1 from RightHand Labs: a versatile robot hand with 3 fingers and 5 degrees of freedom that can pick and place all kinds of objects. It has 3 x Dynamixel AX-12A motors and 2 x Dynamixel XL-320 motors. It comes with ROS drivers and supports Ubuntu.
ReFlex 1 comes with a super compliant palm. It can be used to draw, pick/move items, play games, and do a whole lot more. You can find out more about it here.