Table 1: Specifications of macket's skeleton.

Total DOF 26

Height 800 mm

Weight 5.6 kg (not including soft cover)

Actuator RX-64 (maximum hold torque 64 kgf·cm)
RX-28 (maximum hold torque 28 kgf·cm)

FSRs for tactile and ZMP sensor
(Interlink Co.),
potentiometers for dislocation sensor
(ALPS Electric Co.),
Sensor 3D Motion Sensor MDP-A-3U9S-DK
two cameras, two microphones, and
3D deformation sensor
(explained in Section 3)

Electric interface RS-485 (actuators, sensors), USB (sensors)

Human interface Two cameras, two microphones, and speaker