As so far as "stimuli" from the human host, I have no knowlege of this.
In this, I am not the one to ask. As far as a computer simulation, I advise caution as this often leads one down blind alleys.
However, small prototype control elements are something the company I work for is investigating albut to a minimum degree.
I have seen pressure sensors that were based on a barometric pressure system that were incredibly accurate. This is loosely what I used as a low frequency transducer I use for live recording.
Other control elements ive seen are temp variant dependant units, thermo "
hase" units that act loosely as infa-red units and low pressure sensors that work in the milli-kpa range.
My old favorite for motion information was the old "sonar" camera device.
I have found that excessive information for a robotics project has many down falls. I tend to use the KISS principle.
I`ll have to see if I can locate any info on the above items, its been a while.