Dexterous hand

A simple two-finger gripper picks up boxes. A dexterous hand with five fingers and 12 to 24 DOF can turn a screwdriver, press buttons, handle a phone or hold a pen. Hands are widely seen as one of the hardest parts of humanoid robotics, because they need to be small, strong and sensitive at the same time.

If your task is boxes and bags, you do not need one and a simple gripper will be cheaper and more reliable. If you need human-like tool use, check the number of active DOF (not just joints), fingertip force, tactile sensing and how often the hand needs service.