Here is a soft tactile sensing upper body robot designed to manipulate large objects. The Punyo-1 operates on a vertically actuated cart. It has pressure sensing chambers and soft bubble paws. It also has various force sensors. This robot features inflatable armbands covered in cut resistant Dyneema fabric.
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Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and pHRI
The above video from Toyota Research Institute shows this robot in action.
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