Optical Torque Sensors for Implementation of Local Impedance Control of the Arm of Humanoid Robot

A round foot controller has a molded cover 75 attached to a molded base 11 by interengaging projections 79 and 16 extending in opposite directions toward each other from the rims of telescoping walls 77 and 13. The wall 77 is near the perimeter of the cover and is concentric with another wall 76 that surrounds the wall 77. The wall 13 concentrically surrounds another wall 14 in the base. The base has openings 96 and the cover has corresponding openings 97 left by the respective molds that form the undersides of the projections 16 and 79. The double-walled structure of the cover telescoping with the double-walled structure of the base prevents inadvertent access to the electrical components in the foot controller. However, the resistence of a variable resistor 21 or 103 in the controller, can be varied by pressure on any part of the cover 75.