Meet the Shadow Dexterous Hand: an advanced robotic hand with 20 actuated DOF, position and force sensors, and fingertips with touch sensors that can be mounted on a wide range of robot arms. It is the size of a human hand and comes with 129 sensors. The Hand is compatible with ROS.
According to the manufacturer, an air muscle actuated version of the Hand is also available for purchase. You can also use BioTac tactile sensors to take the Shadow Hand to the next level.