This paper proposes an estimation method of the arrangement of sensing points in parallel multi-degrees-of-freedom bilateral motion control system. The arrangement of sensing points can be estimated by bilateral motion control for grasping motion based on modal decomposition with Discrete Fourier Series Expansion (DFS). Even if the arrangement of sensing points in master system or slave system is unknown, the arrangement can be estimated by the proposed method. Finally, the validity of the proposed method is confirmed by the experimental results. © 2011 IEEE.