I suspect the "hand" could be made more usable and easier to control by a human being if there were 10 digits on one "hand". That way, two human hands could be used as the controllers and there would be no need to relearn manual dexterity. (Since all the digits are connected to a single wrist, it might "feel" like using two hands connected with handcuffs). A separate second "hand" on the robot could be used when working on large objects that required the two hands to be separated. If the 5 spare digits on each robot hand were retracted, they could be operated by two human hands in the separated mode. Obviously autonomous robots wouldn't be constrained by the desirability of mapping to the human handler.
Yes "touch recognition"--officially called haptic feedback--is an active area of research worldwide. In fact, I have heard rumors that the iPhone 6 will have haptic feedback when you touch certain parts of the screen.
Replay available now: A handful of emerging network technologies are competing to be the preferred wide-area connection for the Internet of Things. All claim lower costs and power use than cellular but none have wide deployment yet. Listen in as proponents of leading contenders make their case to be the metro or national IoT network of the future. Rick Merritt, EE Times Silicon Valley Bureau Chief, moderators this discussion. Join in and ask his guests questions.