I found this article from IEEE Spectrum. This hand named as Azzurra uses special kind of underactuated mechanism(only 5 motors can actuate total 11 Dof) and which is known as Hirose’s mechanism.
By using that kind of mechanism, the key feature of Azzurra is a self-contained structure. That is, all functional components including motors, sensors and controller are integrated in the palm, and the weight of the hand is only 640 grams!
Key Features
* Light weight: 640 grams
* Compliant grasps
* Thumb ab/adduction
Technical specs & Resources
– Total DoA : 5
– Total DoF : 11
– Interface : RS232/USB
– Power supply : 8V@5A peak
– Weight : 640g
– Grasp payload : 4 kg
sources:
1. http://spectrum.ieee.org/automaton/robotics/medical-robots/startup-spotlight-prensilia
2. http://www.prensilia.com/index.php?q=en/node/40