I think it’s less about tools and more about the spaces that humans operate in.

You don’t need a human-like hand to hold a tool made for humans. As an extreme example, you can make a robot operate a power drill with strap to hold it and a servo with a small bit of wood to operate the trigger mechanism.

But for a robot operating in a space made for humans there certainly are some physical requirements which are based on the human form: maximum volume and clearances, stairs, fragile fixtures that can’t be operated with too much force, etc.

Ever walk through some over-crowded antique shop where you need to twist and lean your body to avoid knocking into thing?