Not a hardware problem, and never was.

The problem of today's robots isn't somehow "the hands are insufficiently dextrous". That isn't a capability bottleneck at all: the performance of modern robots isn't somehow limited by the fingers being too stiff or too brittle. The capability bottleneck is "the AI sucks ass". Robots underperform because the AI can't get them to perform to the limits of their hardware - or anywhere near, really.