The authors previously developed a simplified whole-body haptic system named “Haptic Armor” that consists of a force sensor device and a convex-shaped end-effector. However, this system suffered from the limitation that the shape of the end-effector had to be convex. Therefore, this paper proposes a whole-body haptics method based on a force sensor device and a non-convex-shaped end-effector. First, this method estimates candidate contact points from the force sensor information. Then, it identifies the contact point by using the information on the variation in the external force direction while the end-effector is in contact.