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This paper uses (linearized) Kalman filters to estimate first-order geometric parameters (i.e., orientation of contact normals and location of contact points) that occur in force-controlled compliant motions. The time variance of these parameters is also estimated. In addition, transitions between contact situations can be monitored. The contact between the manipulated object and its environment is general, i.e., multiple contacts can occur at the same time, and both the topology and the geometry of each single contact are arbitrary. The two major theoretical contributions are 1) the integration of the general contact model, developed previously by the authors, into a state-space form suitable for recursive processing; and 2) the use of the reciprocity constraint between ideal contact forces and motion freedoms as the “measurement equation ” of the Kalman filter. The theory is illustrated by full 3-D experiments