Quick googling brings smaller than a penny strain/pressure sensors under $10. That is a sense of touch enough for most of the tasks.
But I think most of those can be replaced by existing robotics as well anyway. I mean take car manufacturing, over time more and more humans were replaced by robots, and nowadays the newest car factories are mostly automated (see lights-out manufacturing: https://en.wikipedia.org/wiki/Lights_out_(manufacturing)). Interestingly a Japanese robot factory has been lights-out since 2001, where they can run for 30 days on end without any lights, humans, heating or cooling.
>10000 sensors with specific spatial layout and various specialised purposes (pressure / vibration / stretching / temperature) that require different mechanical connections between the sensor and the skin.
mechanical connection wouldn't be an issue if we lithograph the sensors right onto the "skin" similarly to chips.
The “more than 10000” also has a large impact in size (sensors need to be very small) and cost (you are not paying for one sensor but 10000).
Of course some applications can do with much less. IIUC the article is all about a _universal_ humanoid robot, able to do _all_ tasks.