In this work, we present the technology of Sexus Fleurus, a touch-interactive soft robotic installation that is actuated by pressurized air and that incorporates a capacitive artificial skin. The skin allows multi-touch detection on irregular and deformable surfaces while maintaining high sensitivity to human touch. The actuation and sensing technology allow us to create organic motion and behavior of the sculpture, resulting in a novel experience for the visitors. Thus, Sexus Fleurus expands the palette of artistic expression, especially regarding tactile interactions between humans and robots. Furthermore, by adding pressure sensing we can couple the deformation of the soft body with real-time mechanical simulation using the SOFA framework. This allows us to create virtual version of the installation, with applications, for example in VR/AR, we have could explore in the future. The installation was developed by the artist in collaboration with the DEFROST laboratory at Inria Lille in France and the Instituto de Ciencias de la Ingenieria from the Universidad de O'Higgins in Chile.