Exproprioceptive sensors use a combination of proprioceptive and exteroceptive monitoring. These sensors measure the position of the robot body or parts relative to the environment. Exproprioceptive measuring is characterized by the use of directional sensors whose direction relative to the robot is not fixed. It also includes relative readings such as measuring the internal heat of a robot versus the external heart.
Examples of exproprioceptive monitoring devices are panning sonar sensors and force sensors.