This evening I soldered up a small prototype to test the touchytouch library that todbot wrote and used for the his PicoTouch project. For reference, this is where I started from with the touch buttons, with resistor values of 1M Ohm. I've cut up a blank copper pcb at the hackspace and soldered four of the gazillions resistors we have to the board. I'm very pleased with the result, so there's going to be touch buttons for TARS for menus and stuff. 

https://github.com/todbot/picotouch