In April 2012 Chris Chappell and Easton LaChappelle ran a Kickstarter Campaign to fund a 3d printed Robotic Hand. These are the 3D printed parts of the hand + Forearm. It has 5 actuated degrees of freedom, and one manual degree of freedom in the thumb. The Forearm takes 5 standard hobby servos with length and widths of 20x40mm.
Electronics used to have it working include 5 standard hobby servos, and 1 Micro Maestro 6-Channel USB Servo Controller from Pololu