PR2 is a Willow Garage robot that performs a valuable, and difficult, task for humans - folding the laundry. Professor Pieter Abbeel at UC Berkeley has PR2 started out on towels, which are somewhat easier than other items, but still it's a great start.
(PR2 folding laundry robot)
Science fiction fans may recall that this functionality was built into closets by Philip K. Dick in his 1965 novel The Zap Gun; see the entry for the handicloset.
Humanoid Robots Tickle The Ivories
'The massive feet working the pedals, arms and hands flashing and glinting...' - Herbert Goldstone, 1953.
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MIT Computerized Bionic Leg Is Part Of The User
'The leg was to function, in a way, as a servo-mechanism operated by Larry’s brain, through the mediation of the electronic brain in the leg.'