---
publication_id: "OT-2026-000001197"
title: "End effector of a humanoid robot"
published_at: "2026-09-15T19:04:04.363635Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001197"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j13/082"
  - "b25j13/082"
  - "b25j13/08"
  - "b25j13/084"
  - "b25j13/084"
  - "b25j15/00"
---

# End effector of a humanoid robot

## Abstract

The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an articulated arm coupled to torso, and an end effector coupled to the articulated arm and comprising a tactile sensor assembly. The tactile sensor assembly includes a bridge comprising a base section and three flexure arms, wherein each flexure arm includes a sloped section extending from the base section at a first non-zero angle and a load section extending from the sloped section at a second non-zero angle. A strain gauge is coupled to the sloped section of each flexure arm. The tactile sensor assembly includes an electronics assembly communicatively coupled to each strain gauge and configured to process data received from each strain gauge.