Allen Peter K. author Columbia University. Computer Science Miller Andrew T. author Columbia University. Computer Science Oh Paul Y. author Columbia University. Computer Science Leibowitz Brian S. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1996 English This paper describes a set of methods that can be used to integrate real-time external vision sensing with internal force and position sensing to estimate contact forces by the fingers of a hand. Estimating these forces and contacts is essential to performing dextrous manipulation tasks. Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and force information relating to contact. By adding external vision sensing, we can complement any internal sensors to more accurately estimate forces and contact positions. Experiments are described that use real-time visual trackers in conjunction with internal strain gauges and a new tactile sensor to accurately estimate finger contacts and applied forces for a three fingered robotic hand. Robotics Piscataway, N.J. IEEE 1996 349 356 http://dx.doi.org/10.1109/MFI.1996.572200