Instructables

Conductive Rubber: Make Touch Sensitive Robot Skin

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Step 6: Testing The Robot Skin

Picture of Testing The Robot Skin
The resulting robot skin has a resistance between 300 to 400 ohms when pressed with about 3 ounces of force anywhere on the surface. The top and bottom conductive layers are connected together to create a switch with the middle layer. The resistance is low enough that an led can be directly lit using five volts.

By varying the insulating dot spacing and thickness of the conductive rubber, the pressure of this touch sensor can be adjusted.
 
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Cool! You could even extend this to localize the touch:

-Measure the resistance from the 4 corners

-Using the difference between resistance as measured from the right and resistance as measured from the left, you can figure out how far right/left the touch is, by using the known resistance of the material. (Higher resistance when measured from the right means that the touch is on the left.)

-Same for up/down

This method only works for a single touch, but could still be useful.