Toyota Punyo Soft Robot
Tesla’s Optimus may be years away, but Toyota Research Institute’s Punyo soft robot is here now and ready to help around the house. Thanks to its soft arms made from air-filled bladders, it’s not afraid to make a lot of contact, utilizing its whole body to carry and manipulate more than it could by grasping with only outstretched hands.



The air-filled bladders, also known as ‘bubbles’, is connected via a tube to a pressure sensor which senses forces applied to the outer surfaces of the bubbles. There are 13 bubbles on each arm and they can be individually pressurized to a desired stiffness, adding approximately 5 cm of compliance to the surface of the robot arms.
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Toyota Punyo Soft Robot

For core whole-body manipulation tasks, such as grasping and lifting, we’ve broken these skills down into synergies, similar to synergies for hand-based grasping, which are motions we individually control via a gamepad interface,” said the Toyota Research Institute.

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