Series elastic actuators (SEA) driven by custom brushless DC motors. The DOFs contain cable drive systems, with the drive cables hidden discreetly in the center of the joints to not impede movement. Series elastic actuators are used to provide force-sensing capabilities to the arms. The sensors embedded throughout the arms are linked up to the cognitive system. Hands The design of a humanoid hand is required to incorporate some way to measure and output force. A few older designs had force sensors in the fingertips. While this would work in a known environment, it does not provide enough feedback to work in a novel and unknown environment. The controllers in Domo's hands are able to sense forces at the individual joints. This allows the hands to execute a grasp of an object even without a model of the object's size, shape or material. Each hand consists of three fingers powered by four actuators. There is one actuator for each finger and the fourth is to control the spread between two of the fingers. The two fingers are spread using gears, while the third remains in place. Abilities Domo will adapt to its surroundings by testing the physical nature of things by touching them or shaking them. Its abilities include determining the volume of an item, placing items on shelves, pouring drinks for humans, shaking hands, and giving hugs. Perception Using the two cameras mounted on its head and the visual processing system, Domo is able to analyze the size and shape of an object to prepare for interaction. This is done without prior knowledge about an object and allows Domo to accomplish tasks in unknown environments. Learning Domo's architecture allows for the robot to remember previous sensory experiences. Domo is able to learn about its own sensorimotor abilities and is able to fine-tune the modulation of its actions based on previously accomplished tasks. Manipulation Domo's hands were designed to be dexterous and capable of many different grasps and movements. However, this cannot be accomplished without the design of the software system to be adept at managing different controllers for each of its joints. This allows the robot to be able to react quickly and change its arm activity. This is critical for the robot to be able to attempt to perform real world tasks. References External links Jeff + Aaron's spinoff company MIT.edu Domo Research Cardea Robot Domestic robots Massachusetts