Amazon's Vulcan Robots Now Stow Items Faster Than Humans

What does "a genuine sense of touch" actually mean? Surely there have been robots in the past that can detect how much force they are apply to an object? Was that a "fake sense of touch"?

I'd assume measuring the force exerted at the contact point rather than the motor current.

I think this has also existed in the form of force sensors and more recently image-like pressure sensors.