[beAbU]

The human hand is arguably the best general purpose gripper of human-scale objects. Only took evolution a couple of hundred million years to figure it out.

If you can limit the scope of things to be gripped, e.g. a sheet of paper, a baby chicken or a 100x100mm square steel girder then no doubt there is a better design out there.

[eichin]

Not exactly. The human hand is really advanced within the constraint of "you can't just arbitrarily replace damaged parts". If you can swap in replacement fingers, 3 of them is fine (and much easier to model and perform grasping calculations.)