As part of the MR2S project, this research explores the development of robotic systems intended for therapeutic interaction in healthcare, with a particular focus on autism support. In such contexts, soft and responsive haptic devices offer a compelling non-verbal channel to promote emotional engagement and sensory regulation. The thesis presents the development of a tactile interaction system that responds to varying levels of physical input using capacitive sensing and multimodal feedback. The goal was to create a clear and compact platform capable of detecting graded touch and translating it into both vibration and mechanical motion responses. The sensing was handled by a soft resistive-capacitive material, able to reflect different pressure levels through measurable resistance changes.