  Tactile sensing is a key enabling technology to develop complex behaviours
for robots interacting with humans or the environment. This paper discusses
computational aspects playing a significant role when extracting information
about contact events. Considering a large-scale, capacitance-based robot skin
technology we developed in the past few years, we analyse the classical
Boussinesq-Cerruti's solution and the Love's approach for solving a distributed
inverse contact problem, both from a qualitative and a computational
perspective. Our contribution is the characterisation of algorithms performance
using a freely available dataset and data originating from surfaces provided
with robot skin.
