The ORCO 2 is a lightweight solution for prosthetics and robot dexterity. It currently has a similar amount of degrees of freedom to a real human hand, with improvements coming to the thumb. It's soft to the touch and flexible enough to adduct/abduct the fingers.  I designed a custom PCB to accommodate the motors, recharging, and BLE/WiFi/USB capabilities. It lasts ~12 hours on battery with moderate use, and can be charged over the USB-C port.