This paper presents a method for estimating contact points on an extended robotic structure using only the built-in sensors of the Franka Emika Panda robot. The proposed approach combines a Kalman filter to mitigate sensor noise and a two-step optimization strategy, using global and local methods, to accurately determine contact positions. Experimental validation in both static and dynamic scenarios confirms the method’s accuracy, even in noisy conditions. By eliminating the need for additional external sensors, this method provides a cost-effective solution for collaborative robotics.