Endoscopes have become a common tool for a variety of examination tasks in areas that are difficult to access. Robotic endoscope systems aim to combine two main requirements for a fast, precise and safe operation: Good path following capabilities as well as high resistance against manipulation forces. In this context, a hyper-redundant shaft concept based on unique binary, electromagnetic tilting actuators was proposed earlier. To keep the actuator as simple as possible, no sensors were integrated. In order to close the control loop and capture the current configuration of the shaft in combination with establishing a safe interaction interface between the electromagnetic manipulator and its environment, this paper addresses preliminary design issues and first results for a sensor equipped silicon sheath for the robotic system.