The V2 has a fair range of varied internal senors. 4 Pots, 3 Tilt Switches, 5 Encoders and 2 Switches. I'll break them down by joints.
Neck
2 Encoders - These cover head rotating left and right, and tilting back and forward.
Left / Right Shoulder
1 Pot - Each shoulder has a single pot to determines its up / down orientatoin
Left / Right Wrist
1 Encoder - Each wrist has a 2 bit (4 position) encoder to determine its left / right rotation.
Left / Right Hand
1 Switch - Each hand has a switch that determines if the fingers have close around and object.
Waist
2 Pots - These determine the left / right rotation, and the orientation of
the legs relative to the body.M
1 Encoder - This 2 bit (2 / 3 position) encoder determines the left / right
tilt of the waist.
1 Tilt Switch - This determines if the torso is vertical with respect to the
ground
Left / Right Foot
1 Tilt Switch - These determine if the V2 is lying face down or on its back.