Like Rodney Brooks says, "No one has managed to get articulated fingers (i.e., fingers with joints in them) that are robust enough, have enough force, nor enough lifetime, for real industrial applications."

Here, I'll link to that piece directly, it's long and detailed and illustrated, and it also counters the idea of just throwing AI at the problem until robot dexterity emerges from whatever physical parts.

https://rodneybrooks.com/why-todays-humanoids-wont-learn-dex...

"there have now been fifteen different families of neurons discovered that are involved in touch sensing and that are found in the human hand" ... "a human hand has about 17,000 low-threshold mechanoreceptors" ... "These receptors come in four varieties (slow vs fast adapting, and a very localized area of sensitivity vs a much larger area)"

You might ask, do robots that interact with the real world need such complicated bio-mimicking physical tech, or can they cut corners? But they can't cut all the corners, anyway. Somebody has to make a high-bandwidth robot hand with flexible strength and a self-repair ability. Or, hey, cyborgs maybe? Reanimate cadavers with AI, that could do the trick.