Tactile array sensing and intrinsic contact sensing (ICS) determine the location of the contact between robots' fingers and an object within a millimeter accuracy during real manipulation tasks. ICS is handicapped by problems in calibration, transient forces and a low signal-to-noise ratio. However, tactile array sensing is unaffected by these problems. It is slower than ICS and its sensitivity to shear loads is minimal. The sensing schemes are experimentally compared during manipulation tasks with rotating and translating objects.