Wim Meeussen Johan Rutgeerts Klaas Gadeyne Herman Bruyninckx Joris De Schutter Contact State Segmentation Using Particle Filters for Programming by Human Demonstration in Compliant Motion Tasks. 3-12 2006 ISER http://dx.doi.org/10.1007/978-3-540-77457-0_1 conf/iser/2006 db/conf/iser/iser2006.html#MeeussenRGBS06