Stretchable touch sensors are being required for next generation wearable devices. Here, we propose a robust readout circuit with a leakage current cancellation technique (LCCT) to deal with issues unique to the stretchable touch sensors. The LCCT cancels the effect of leakage current which increases when a finger approaches. The circuit's ability to measure both self capacitance (SC) and mutual capacitance (MC) changes enables reliable touch detection. A capacitance variation is compensated by intentionally adding offset voltage. Experimental results showed a performance of the circuit with a signal to noise ratio (SNR) of 27.1 dB when measuring SC and 35.3 dB when measuring MC of a prototype stretchable touch sensor. The effectiveness of the LCCT was demonstrated using an equivalent circuit of the sensor.