Meet the Brunel Hand: a fully articulated robot hand made with researchers in mind. It can be controlled from a PC or Mac and programmed using the Arduino programming environment. According to the company, the hand has 9 degrees of freedom and 4 degrees of actuation.
The robot hand comes with fully controllable status LED, 9-axis IMU, and open source hardware. It weighs only 371g. Costs £1,499 at this time.