We propose a solution for whole-body humanoid haptic sensing and safe interaction that is based on combining layered three-level modules. The inner module (closest to the link) consists in a bumper attached to the link through few force pressure units mounted in a way to measure the external wrench acting on the link. The second module, covering the bumper, consists of a thin matrix of different pressure tactile units, which main role is to detect contact locations and secondarily contact pressure distributions. The third module, covering the previous one, being a compliant foam which main role is to ensure safe interaction and robust contact formation. This paper focuses on the tactile matrix concept and its realization, the obtained results are reported.