Capacitive sensor arrays have been developed for multifunction sensing in robotic applications. The arrays consist of one-dimensional arrays of strip electrodes. They can be addressed to provide the different functions enumerated in 18. Distance ranging, edge detection, response optimization, and matched filtering have all been demonstrated experimentally with metal samples. Edge detection has been observed with dielectric samples, which cannot be sensed with inductive probes. Keywords include: Sensors, Robotics, Capacitive, Arrays, Distance Ranging, Edge detection, Response Optimization, Field Adaptation, Pattern Matching, Matched Flitering, Analytic Modeling.