A robot arm assembly for detecting a pose and force associated with an object, the robot arm assembly comprising: a robot arm including an end effector having a plurality of fingers (112/118); a deformable sensor provided on each of the plurality of fingers, the deformable sensor comprising: a housing; a deformable membrane coupled to the housing; an enclosure partially defined by the deformable membrane, the enclosure configured to be filled with a medium; and an internal sensor disposed within the housing, the internal sensor having a field of view directed through the medium and toward an internal surface of the deformable membrane; one or more processors communicatively coupled to each internal sensor; and one or more memory modules comprising a computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to: receive an output from each internal sensor, the output comprising a contact region of the deformable membrane as a result of contact with the object; determine an amount of displacement of the contact region of the deformable membrane based on the output from each internal sensor; and determine the pose and the force associated with the object based on the amount of displacement of the contact region of the deformable membrane wherein the deformable sensor further comprises a bubble module removably attached to the housing, the bubble module including the deformable membrane and a backing plate defining the enclosure. a robot arm including an end effector having a plurality of fingers (112/118); a deformable sensor provided on each of the plurality of fingers, the deformable sensor comprising: a housing; a deformable membrane coupled to the housing; an enclosure partially defined by the deformable membrane, the enclosure configured to be filled with a medium; and an internal sensor disposed within the housing, the internal sensor having a field of view directed through the medium and toward an internal surface of the deformable membrane; a housing; a deformable membrane coupled to the housing; an enclosure partially defined by the deformable membrane, the enclosure configured to be filled with a medium; and an internal sensor disposed within the housing, the internal sensor having a field of view directed through the medium and toward an internal surface of the deformable membrane; one or more processors communicatively coupled to each internal sensor; and one or more memory modules comprising a computer-readable medium storing computer-readable instructions that, when executed by the one or more processors, cause the one or more processors to: receive an output from each internal sensor, the output comprising a contact region of the deformable membrane as a result of contact with the object; determine an amount of displacement of the contact region of the deformable membrane based on the output from each internal sensor; and determine the pose and the force associated with the object based on the amount of displacement of the contact region of the deformable membrane wherein the deformable sensor further comprises a bubble module removably attached to the housing, the bubble module including the deformable membrane and a backing plate defining the enclosure. receive an output from each internal sensor, the output comprising a contact region of the deformable membrane as a result of contact with the object; determine an amount of displacement of the contact region of the deformable membrane based on the output from each internal sensor; and determine the pose and the force associated with the object based on the amount of displacement of the contact region of the deformable membrane wherein the deformable sensor further comprises a bubble module removably attached to the housing, the bubble module including the deformable membrane and a backing plate defining the enclosure.