{
  "abstract": "The present disclosure provides a bipedal robot comprising a torso, head, arm assembly, and end effector. The end effector includes a thumb assembly with at least three degrees of freedom, a first finger assembly with at least two degrees of freedom, a vision sensor positioned between the arm assembly's distal end and first finger assembly, and an illumination source. The illumination source illuminates the field of view between the vision sensor and the thumb and first finger assembly extents when the robot is extended. The vision sensor's field of view includes most of the end effector's palmer side, enabling detection of contact information between objects and the thumb assembly and first finger assembly extents.",
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  "source_date": "2026-04-16",
  "source_id": "US-2026102903-A1",
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  "supersedes": null,
  "title": "Sensors of a humanoid robot",
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