1. A method of sensing touches on a touch sensor, the method comprising: acquiring, by a computer processing unit, a frame comprising a plurality of touch signal values detected by a two-dimensional array of sensing nodes distributed over a sensing area of a touch sensor; detecting, by the computer processing unit, at least one touch in the frame, each touch being formed of a contiguous group of sensing nodes; based on the touch signal values associated with the contiguous group of sensing nodes, computing, for each detected touch, a touch location on the sensing area; based on the touch signal values associated with the contiguous group of sensing nodes, computing, for each detected touch, a touch angle indicative of orientation of the touch on the sensing area; computing, for each detected touch, a touch ellipticity factor indicative of how elongate a shape is possessed by the touch by processing the touch signal values associated with the contiguous group of sensing nodes forming the touch; outputting, by the computer processing unit, frame data including the touch location, the touch angle, and the ellipticity factor; and identifying, using a gesture processing algorithm, gestures from the frame data, and wherein the gesture processing algorithm includes recognition for at least one gesture having a parameter with a mapping to a magnitude of the touch ellipticity factor, the gesture processing algorithm jointly processing the touch angle and the magnitude of the touch ellipticity factor to determine angular precision of the touch angle.