The specialized book "Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors" by Matteo Fumagalli offers a comprehensive examination of enhancing the perceptual abilities of humanoid robots, particularly the iCub robot. The work presents an effective methodology based on the integration of measurements from various sensors, including force/torque sensors, inertial sensors, and tactile sensors distributed along the robot's kinematic chain. The significance of tactile perception is emphasized, as it is crucial for the exploration process. The book highlights how humanoid robots require a variety of sensor data to perceive their environment and interact safely with it and with humans. The proposed method aims to improve the perceptual skills of robots by utilizing a limited number of localized and distributed sensors, providing a feasible solution for the active compliance control of humanoid robots.