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The design and application of sensing antenna devices that mimic insect antennae or mammal whiskers is an active field of research. However, these devices still require new developments if they are to become efficient and reliable components of robotic systems. We, therefore, develop and build a prototype composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that measures the forces and torques at the base of the flexible beam. This work reports new results in the area of the signal processing of these devices. These results will make it possible to estimate the point at which the flexible antenna comes into contact with an object (or obstacle) more accurately than has occurred with previous algorithms. Previous research reported that the estimation of the fundamental natural frequency of vibration of the antenna using dynamic information is not sufficient as regards determining the contact point and that the estimation of the contact point using static information provided by the forces and torques measured by the load cell sensor is not very accurate. We consequently propose an algorithm based on the fusion of the information provided by the two aforementioned strategies that enhances the separate benefits of each one. We demonstrate that the adequate combination of these two pieces of information yields an accurate estimation of the contacted point of the antenna link. This will enhance the precision of the estimation of points on the surface of the object that is being recognized by the antenna. Thorough experimentation is carried out in order to show the features of the proposed algorithm and establish its range of application. [ABSTRACT FROM AUTHOR]