All stomatopods have the ability to deliver two kinds of strikes, a smash with he dactyl of the raptorial appendage closed and a stab with the dactyl open. Whether they stab or smash depends on the motivation and the target. A gonodactylid when hitting hard shelled prey will smash, but when defending itself against soft prey like an octopus, they may stab. When grabbed by something, that are also more likely to stab. I handle a lot of stomatopods, so I am often stabbed. If you just put you finger near an animal's burrow, you are likely to receive a defensive smash. Species also differ in their tenancy to stab. For example, N. curacaoensis and G. smithii are very difficult to handle because they usually stab. G. platysoma and G. chiragra are more likely to smash with a closed dactyl even when handled.
A smasher would have to be quite large to hand a blow with sufficient power to break the skin. I have seen a large Hemisquilla (12 inches) mangle a finger with a closed dactyl strike and a few large O. scyllarus cause significant damage with a smash. However, most stomatopods larger than an inch can penetrate your skin with a stab and a gonodactylid a couple of inches long can drive both dactyls to the bone. Obviously a stab from a larger animal is much more serious. The worst cases I have seen were either penetration of a joint or secondary infection.
I've written before about a couple of case requiring amputation when stomatopod stab wounds became infected with an unknown strain of bacteria that attacked connective tissue. Needless to say, given this history along with all of the other pathogens that can be found in aquaria, I think it very ill advised (read stupid) to deliberately invite an attack by a stomatopod that could break the skin.
Roy