We have covered a bunch of robotic roaches such as the VelociRoACH here in the past. BiomimeticMillisys has shared a video that shows this robot getting a force sensing shell. The researchers created a lightweight force-torque sensor “using photo-interrupters with force sensitivity of 17 mN.” The sensor can be used to gather body contact location data.
More information is available on BiomimeticMillisys‘ channel.