Give a robot a sense of touch and force

What the people stuck here are trying to get done

When my robot can play back a motion but has no idea about forces, I want it to sense touch, texture and force at the fingertip, so I can do reliable contact-rich manipulation on real work.

Who needs it solved

Founders and engineers building humanoids, arms, and pick-and-assemble automation whose systems move without feeling anything.

What makes it hard

Much of the current stack is choreographed: "most of the humanoid slop right now is choreographed... it has no idea about forces." Intelligence built on that foundation cannot feel the difference that matters.