Human-robot interaction (HRI) is advancing with the goal of creating more intuitive and natural exchanges between humans and robots, both in social and non-social contexts. In particular, social physical HRI focuses on creating robots that can engage with humans in ways that feel natural and emotionally engaging, such as responding to touch, gestures, and body language. When robots are designed to interpret and react to these human cues, the interaction becomes more seamless, reducing the learning curve and improving accessibility. This is especially true in social settings, where tactile sensing enables robots to respond to physical touch, pressure, and subtle movements, allowing for empathetic interactions such as comforting gestures or providing haptic feedback during collaborative tasks.