Meet the ReFlex TakkTile: a robotic hand with 4 Dynamixel motors to pinch and grasp things. It has 3 fingers and 9 sensitive TakkTile sensors per finger (features 0.01N sensitivity per sensor). This robot hand is ROS compatible. It comes with basic software to read sensor data and publish motor commands.
The ReFlex TakkTile comes with adapter plates for Baxter and other popular robots.