Robots with compliant contact and geometry sensors having varying touch sensitivity and methods for providing the same

A robot having touch sensitivity, comprising:

• a first portion and a second portion each comprising at least one of a plurality of deformable sensors, wherein the plurality of deformable sensors comprise differing levels of depth resolution and spatial resolution for detecting a pose and force associated with an object, and wherein each deformable sensor of the plurality of deformable sensors comprises:
• an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium;
• and
• an internal sensor, disposed within the enclosure, having a field of view configured to be directed through the medium and toward a bottom surface of the deformable membrane;
• and
• a processor configured to analyze a contact region in the deformable membrane as a result of contact with the object to determine both a pose of the object and an amount of force applied between the deformable membrane and the object.