A novel method to detect the contact point between the robot whisker and an measured object is suggested.By adding a proper mass at the top end of the whisker

the inertia of the whisker is enhanced.At the moment the whisker hits an object

it send the stop signal to the actuator.The motion phase of whisker will switch from contact to non-contact and vice verse.The signal acquisition system outputs the oscillation waveform at real-time in graphic formula method

by measuring the frequency of the whisker

the contact point between the robot whisker and an object can be decided.