Yes. Both the parallel gripper and the 5-finger hand (hey5) can detect when an object is grasped by monitoring the current consumption of its motors. Furthermore, the hey5 hand is underactuated, it has 19 degrees of freedom and 3 motors, so that it adapts to the shape of the objects. Thanks to the 6-axis force/torque sensor on the wrist, forces and motions in manipulation tasks can be precisely controlled.