This paper presents a theoretical framework for the design of tactile
sensing fixtures for robotics and manufacturing. The framework present
ed uses group, theory to analyze the symmetry of contact conditions on
a fixture to evaluate a fixture design for referencing the sensor fra
me with respect to the fixture frame. Mechanical fixtures consisting o
f planar spherical, and cylindrical surfaces are studied for their use
fulness as part of referencing fixtures. The theory developed is used
in guiding the design of a simple yet novel touch sensing fixture for
part referencing and calibration in manufacturing and robotics.