>New systems for measuring the relative location of two contacting bodies using tactile signals generated by the contacts are presented and discussed. Kinematic models of the systems are given to aid their visualization, and the Kutzbach formula is used to test the uniqueness of the relative location vector inferred from the tactile signals.
Using the Kutzbach formula it has been shown that, in general, bilateral systems involve measurements of more than one state of contact, that is they are multinary in character.
In the Appendix mathematical procedures have been described for evaluating the relative location from the tactile signals.
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