BaroTactile
The BaroTactile sensor is a cost-efficient and repairable barometric tactile sensor. It uses 16 MEMS barometers in a 1D array on a single PCB, covered by a rubber layer that is molded separately and clamped on with a 3D-printed frame, so a worn surface can be swapped in minutes. The material cost is below 80 USD.
Link: BaroTactile
Instagrasp
Instagrasp is an entierly 3D printed gripper that can be made on a hobby grade printer. It is based on the Yale OpenHand T42, but is significantly easier and cheaper to assemble. TPU parts replace molded finger parts and threads (tendons). The whole hand can be assembled in 10minutes, using only a screwdriver and hammer
Link: Instagrasp
E-Troll
The E-TRoll (Enhanced Tactile Rolling) Hand is a 3DoF Robotic Hand/Gripper with a prismatic palm and two revolute fingers. This hand is originally designed for rolling prismatic objects (and collecting tactile data), but it can be used for grasping, caging, and other in-hand manipulation techniques.
Link: E-Troll