157642.fig.003a
(a)
157642.fig.003b
(b)
157642.fig.003c
(c)
Figure 3: “macra”: a humanoid with soft sensor flesh. (a) Photos of “macra,” left: whole-body image covered with soft flesh, right: internal mechanical frame. (b) An arrangement of DOFs. (c) 3-axis force sensor outputs drawn on robot’s geometrical model.