Contact localization by multiple active antenna

Discusses the multiple active antenna that is simply composed of two insensitive flexible beams placed in the rotational plane, one actuator, one position sensor and one axis moment sensor. The sensor system can detect the contact point between the beams and an object through a simple rotating motion even for the object placed with an inclination angle. During rotating motion, one beam first makes contact with an object. By continuously applying the rotating motion, the second beam makes contact with the same point of the object. Each contact angle is estimated by utilizing both the moment and position sensors. Finally, the contact point can be estimated by the geometrical relationship. The basic idea is verified by experiments