Abstract: A robot having at least one member having at least one controllably actuable articulation, said articulation having at least one torque sensor for providing a torque signal indicative of a torque applied to the articulation, and one angle sensor for providing an angle signal indicative of an angle of actuation of the articulation; the robot further comprising: a controller for controlling said at least one controllably actuable articulation; a first neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a force signal indicating that an external force is applied to said at least one member: a second neural network arranged for receiving the torque and angle signals and arranged for providing to the controller a direction signal indicating the direction along which said external force is applied to said at least one member.