After trying out several combinations, I decided on the following sensors for the beta prototype:

Optical surface tracking

Time of flight laser displacement

Barometric pressure+temperature

Differential force (front to back)

Partially Assembled:

Getting Closer:

Buttoned Up:

Top side (showing front and back force sensors):

The two force sensors form a voltage divider allowing one analog pin to effectively monitor both. (Idle output voltage is half full scale)