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In this paper we propose an approach -we call it a "Blind Man's" approach -to shape description in which tactile information is sensed from the fingertips of a dexterous hand. Using this contact information, we investigate two complementary methods for curvature estimation. The first method is based on rolling one finger to estimate curvature at a point on the surface. We use Montana's equations for estimating curvature at a point using simulations and analyze the sensitivity of the approach todoi:10.1109/robot.1996.509246 dblp:conf/icra/CharleboisGP96 fatcat:a4rpvtvboff7pp3hmfk2sakbai