In this paper, a humanoid robot is presented for ultimate use in the rehabilitation of children with mental disorders, such
as autism. Creating affordable and efficient humanoids could assist the therapy in psychiatric disability by offering
multimodal communication between the humanoid and humans. Yet, the humanoid development needs a seamless
integration of artificial muscles, sensors, controllers and structures. We have designed a human-like robot that has 15
DOF, 580 mm tall and 925 mm arm span using a rapid prototyping system. The robot has a human-like appearance and
movement. Flexible sensors around the arm and hands for safe human-robot interactions, and a two-wheel mobile
platform for maneuverability are incorporated in the design. The robot has facial features for illustrating human-friendly
behavior. The mechanical design of the robot and the characterization of the flexible sensors are presented.
Comprehensive study on the upper body design, mobile base, actuators selection, electronics, and performance
evaluation are included in this paper.