The human sense of touch is truly a wonder. Engineered efforts to match the density of sensory receptors, the spatial resolution of the sensing, and the processing speed for applications in robotics fall woefully short of human performance. However, endowing robots with a sense of touch may help them more successfully and safely interact with us in everyday situations. These applications range from helping people to independently complete activities of daily living, to removing rubble after a flood or disaster, to simply operating safely in the same space with human counterparts. In this talk, we share some of the progress we have made with designing large-scale force sensors and discuss the implications of what they might enable in the future.