Meet the Hobby Hand 2.0: a robotics kit with everything you need to learn how to program and use sensors. This robot can be 3D printed using PLA or ABS. It is driven by Arduino MEGA. You get 5 servo motors for lateral motion and 5 servo motors to close each finger. The whole hand weighs about 3 lbs.
This robot hand has a split design for increased range of motion. It is getting funded on Kickstarter.