Detection of contact point and contact state is important in dexterous manipulation of robot hand.Distributed tactile sensor is used to measure contact point and contact force

even though it has the in-born drawback of discontinuity because of the distributed sensor unit

while assuming the contact point is fixed will bring large error in the manipulation. This paper first analyzes the shortcomings of a fixed contact point model

then we propose an algorithm to determine the moving contact point based on the relative geometric character of the robot finger’s profile curve and the manipulated object’s profile curve

thus the actual contact point can be solved without the use of a tactile sensor. And the change of contact point is obtained under a specific manipulation task using MATLAB.