moved at a stable velocity of 20 mm/s along the positive x-axis direction with respect to the contact object. The initial distance between the tip of the whisker sensor and outermost point of the object was set to 15 mm. The signal from the sensor's very first contact with the object to the " snap-off " position where contact was lost was processed. Then, the position information of each single point was calculated using EBB theory, and the contour was reconstructed by plotting all the contact points. Figure 7(b) gives the reconstruction performance with an error band. Over five trials, the observed data coincide well