With normal prosthetics, you can have motor functions, but not the sensory touch. Researchers at Swiss Federal Institute of Technology and Sant'Anna School of Advanced Studies have built a 3D printed prosthetic hand that can help you "feel" while you touch. Fingertip is composed of an electrical sensor coated in a polymer, which translates surface coarseness into current pulses relayed to a nerve in the arm.
Source: http://www.scientificamerican.com/article/tomorrow-s-prosthetic-hand/