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DanielLC comments on [Link] "Upload", a video-conference between a girl and her dead grandfather - Less Wrong
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But they've already been invented.
There are robots that look like humans, but if you want an upload to experience it as a human body, you would want it to be structured like a human body on the inside too, e.g. by having the same set of muscles.
If you want them to experience it as a human body, just add software that makes it feel like they're moving muscles that aren't really there. Also, if you can find the right part of the brain to mess with, make them incapable of noticing something's wrong with their body.
Besides, pneumatic motors are tiny. It's not that hard to add more. Granted, they'd have to carry around a compressed air tank or air compressor if they want to walk around a lot, but that's not going to be a problem if you just want to hug your grand-daughter.
Well, ish. Certainly no interface between uploaded consciousness and the (still very crude) motor-control and perception systems of such androids.