Abstract: This paper analyzes mainly the dynamic behaviors following the non-elastic collision with envi-ronment.The research results show that the motion situation after the collision is different if the stinness of the contact environment is different.If the stiffness of the environment is larger than that of the force sen-sor,there exists a jump contact.Therefore,according to the virtual output signal of the sensor,the charac-teristics of the contact environment can be judged so as to make adequate decision.Besides,numerical differ-ential compensation method of the output error is also studied.