Soft body robot for physical interaction with humans

**1.** A robot for human interaction, comprising: a robot controller including a joint control module; a link comprising a rigid support element and a body segment coupled to the rigid support element, wherein the body segment includes an outer sidewall enclosing an interior space; a pressure sensor sensing pressure in the interior space of the link; and a joint coupled to the rigid support element, wherein the robot controller operates the joint based on the pressure sensed by the pressure sensor, wherein the interior space is filled with a fluid, wherein the pressure is a pressure of the fluid in the interior space, and wherein the robot controller operates the joint based on the pressure when the pressure exceeds a predefined threshold pressure value or when a change greater than a predefined pressure change is identified by the controller. **8.** A robot for human interaction, comprising: a robot controller including a joint control module; a link comprising a rigid support element and a body segment coupled to the rigid support element, wherein the body segment includes an outer sidewall enclosing an interior space; a pressure sensor sensing pressure in the interior space of the link; and a joint coupled to the rigid support element, wherein the robot controller operates the joint based on the pressure sensed by the pressure sensor, wherein the link is fabricated as a single unit, and wherein the rigid support element includes a connector for the pressure sensor providing a passageway to the interior space. **9.** A robot for human interaction, comprising: a robot controller including a joint control module; a link comprising a rigid support element and a body segment coupled to the rigid support element, wherein the body segment includes an outer sidewall enclosing an interior space; a pressure sensor sensing pressure in the interior space of the link; and a joint coupled to the rigid support element, wherein the robot controller operates the joint based on the pressure sensed by the pressure sensor, and wherein the joint includes one of a thrust bearing and a friction bearing fabricated as a single unit. **11.** A robot, comprising: a plurality of body segments; and a set of servo-driven joints interconnecting the body segments, wherein one or more of the body segments includes a fluid-filled void enclosed by a sidewall, wherein the sidewall comprises a membrane of a flexible material, and wherein each of the body segments further comprises a rigid support element coupled to an edge of the sidewall and coupled to one of the servo-driven joints; and a pressure sensor in communication with the fluid-filled void of each of the body segments operating to sense a pressure in each of the body segments, a controller comparing the pressure in each of the body segments with a predefined threshold value or measuring a change in pressure in the body segments based on the pressure and based on the comparing or the measuring, modifying operations of at least one of the servo-driven joints. **17.** A method of controlling operation of a robot, comprising: first transmitting a control signal to operate a joint upstream of a link in a first operating state, wherein the link includes a rigid support element coupled to the joint and a cavity enclosed by a sidewall affixed to the rigid support element; measuring a pressure of a fluid in the cavity; based on the measured pressure, determining when a contact force is being applied to the sidewall; and when the contact force is determined, second transmitting a control signal to operate the joint upstream of the link in a second operating state differing from the first operating state, wherein the second operating state comprises powering off an actuator or servo in the joint.