In a recent International Conference on Robotics and Automation paper, [Shenli Yaun] and some others from Stanford discuss the design of a roller-based robot hand that has many features that mimic the human hand. The key feature is that each of the three fingers has a roller with a small geared motor.
The rollers allowed the hand to change an object’s orientation without losing its grasp. Of course, this works well with spherical objects like a ball. But the video shows that it can manipulate other items like a 6-sided die, a water bottle, or even a piece of paper. By spreading the fingers it can even hold large objects you wouldn’t expect at first glance.