# Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction

arXiv: https://arxiv.org/abs/2111.09354 · HTML: https://mlsanity.com/paper/2111.09354/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Nov 2021.

## Built on by (most cited first, 3 of 3)

- [VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](https://mlsanity.com/paper/2510.14930/) (2025)
- [PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction](https://mlsanity.com/paper/2509.18447/) (2025)
- [TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation](https://mlsanity.com/paper/2607.09218/) (2026)

## Abstract (arXiv)

The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant. We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate whole-body rich-contact manipulation strategies for handling large objects. We demonstrate our hardware design philosophy for outfitting off-the-shelf hard robot arms and other components with soft tactile-sensing modules, including: (i) low-cost, cut-resistant, contact pressure localizing coverings for the arms, (ii) paws based on TRI's Soft-bubble sensors for the end effectors, and (iii) compliant force/geometry sensors for the coarse geometry sensing chest. We leverage the mechanical intelligence and tactile sensing of these modules to develop and demonstrate motion primitives for whole-body grasping. We evaluate the hardware's effectiveness in achieving grasps of varying strengths over a variety of large domestic objects. Our results demonstrate the importance of exploiting softness and tactile sensing in contact-rich manipulation strategies, as well as a path forward for whole-body force-controlled interactions with the world. (The supplemental video is available publicly at https://youtu.be/G8ZYgPRV5LY).