We have covered the TIAGo robot a lot in the past. It has navigation, perception, and manipulation capabilities, with arms capable of reaching the floor and picking up 2kg objects. As this video shows, it can be paired with a haptic controller that allow the operator to feel the forces in the robot’s environment.
TIAGo has a force/torque sensor on its wrist. The operator can actually feel what he is doing while the robot performs tasks. This was done in collaboration with Heemskerk Innovative Technology.