Visual perception and sensory feedback are key elements in any recent robotic system. Human vision and dexterity have been analyzed and adapted to teach the machines how to perform tasks the way people do it. The scope of this Master's Degree thesis is the study of computer vision and tactile perception methodologies to realize a multisensory robotic application able to understand its surroundings and to act with precision on the desired target. More in detail, the goal of this project is to enable the robotic arm e.DO, developed by Comau, to play Jenga tower through a control system based on vision and touch.