The sense of touch is of major importance for object handling. Nevertheless, adequate cutaneous sensors for humanoid robot hands are still missing. Designing such sensors is challenging, because they should not only give reliable measurements and integrate many sensing points into little space, but they should also be compliant and should not obstruct the other functions of the robot. This paper presents a capacitive pressure sensor system with 108 sensitive zones for the hands of the humanoid robot iCub. In particular, the palm has 48 taxels and each of the five fingertips has 12 taxels. The size and the shape of the hand are similar to that of a human child. When designing the sensors, we paid special attention to the integration on the robot. Also the ease and speed of production was an important design factor. Furthermore, the sensor incorporates silicone foam and is therefore compliant. We show the working principle of the sensor, how it has been integrated into the hands, and describe experiments that have been performed to show the characteristics of the sensor.