Thanks for the interesting presentation. Just on tactile sensors (a favourite subject of mine), there doesn’t appear to be any viable technology out there. The GelSight technique may work for small patches but it won’t scale to large areas. Touch is the third of the big three senses and it will be difficult for any robot to function in the real world without it. A robot will require a touch sensitive skin covering its entire surface. If it could be temperature and moisture sensitive as well that would be good. And self-repairing.
Today’s humanoid robots most likely just have tactile sensors on their finger tips and nothing more. An artificial skin will need to be a tough, flexible pressure sensitive membrane with the pressure data muxed onto a communications bus running around the robot body. Arrays of tiny magnets and hall effect sensors may be feasible, or some kind of pressure sensitive resistor material.