The Humanoids Lab and the Quality of Life Technologies group and Carnegie Mellon formed a project whose goal was to create an inherently safe robot that was able to do useful work.
This work was presented at the EBMC 2011 conference with the paper, Physical Human Interaction for an Inflatable Manipulator
Some still shots of the arm:
A video of this guy wiping Sid’s face in the lab:
Here’s a video from CES: