I've been reading the white papers on MIT's Sociable Robots - in particular the Huggable: http://robotic.media.mit.edu/projects/robots/huggable/overview/overview.html
Some information on the touch sensitivity is here: http://robotic.media.mit.edu/projects/robots/huggable/affective/affectivetouch.html
Towards the bottom I post some links to PDFs which go into more detail (particular parts, design, etc.) on the Huggable.
They use Peratech QTC sensors for pressure sensitivity, thermistors for temperature sensitivity and a Motorola chip for electrostatic sensing of human skin.
They also use back drivable voice coil linear actuators for movement. These actuators are silent, back drivable, have few moving parts, are fast and have decent torque.
I went to the Peratech site, but couldn't find any resellers, but a search on this site for QTC reveals one possible source for some type of QTC sensor: http://www.maplin.co.uk/Module.aspx?ModuleNo=44202&criteria=qtc&doy=24m4
I couldn't find information on the Motorola/Freescale Semiconductor 33794 electric field sensing integrated circuit.
I did find this info on voice coil linear actuators (presumably back drivable):http://www.h2wtech.com/noncommdcactu.htmhttp://www.moticont.com/voice-coil-motor.htm
The real interest of this post though are the PDF white papers:
Design of a Therapeutic Robotic Companion for Relationalhttp://web.media.mit.edu/~wdstiehl/Publications/Stiehl_Roman2005.pdf
Affective Touch for Robotic Companionshttp://web.media.mit.edu/~wdstiehl/Publications/StiehlAffectiveTouch.pdf
The huggable robot Probo: design of the robotic headhttp://www.aisb.org.uk/convention/aisb08/proc/proceedings/01%20Reign%20of%20Catz%20Dogz/06.pdf
On the design of an emotional interface for the huggable robot Probohttp://www.aisb.org.uk/convention/aisb08/proc/proceedings/01%20Reign%20of%20Catz%20Dogz/01.pdf
I'd be really interested in discussing QTC sensors, electrostatic sensors, and voice coil linear actuators here, in terms of what to buy, how to wire them up, etc.
My specialty is C coding, so I'd love to get my hands on this stuff and write some C code for control and reading...