End effector of a humanoid robot

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) a tactile sensor assembly including (i) a first strain gauge, and (ii) an electronics assembly communicatively coupled to the first strain gauge and configured to:
• receive signals from the strain gauge as input, process the received signals, and output processed data based on the received signals, and
• (b) an energy attenuation member comprising (i) an interior region having a first compression/deflection ratio, and (ii) an exterior region at least partially surrounding the interior region and having a second compression/deflection ratio that is less than the first compression/deflection ratio,
• wherein the energy attenuation member is configured to receive an external force and transfer at least a portion of the received external force to the tactile sensor assembly.