Toe joint mechanism of human (a), and of existing humanoid robots (b).

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Soft robotic shell with active thermal display

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Human-Like Toe Joint Mechanism

Applied Sciences, Free Full-Text

PDF) Toe joint mechanism using parallel four-bar linkage enabling humanlike multiple support at toe pad and toe tip

Human-Like Toe Joint Mechanism

Figure 1 from Design of compliant joints and human-robot connection in an ankle-foot exoskeleton

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Putting humanoid robots in contact with their environment