A new approach for fusing visual and force information is shown. First, a new method for tracking trajectories, called movement flow-based visual servoing system, which presents the correct behavior in the image and in the three-dimensional space, is described. The information obtained from this system is fused with that obtained from a force control system in unstructured environments. To do so, a new method of recognizing the contact surface and a system for fusing visual and force information are described. The latter method employs variable weights for each sensor system, depending on a criteria based on the detection of changes in the interaction forces processed by a Kalman filter.