Universal Robots ( https://www.universal-robots.com/ ) force sensing collaborative platforms were very advanced years ago, but like most bot firms small market demand made retail consumer pricing unsustainable.

>I can think of at least a dozens, some even making their custom gripper hardware.

The simplest solution sometimes is more robust in practice:

https://news.uchicago.edu/story/balloon-filled-ground-coffee...

Too many edge-case failure modes in an uncontrolled setting. Building platforms that could seriously harm people by just falling over is an inherent design risk. =3