Fabio Dalla Libera Takashi Minato Ian R. Fasel Hiroshi Ishiguro Enrico Pagello Emanuele Menegatti A new paradigm of humanoid robot motion programming based on touch interpretation. 846-859 2009 57 Robotics and Autonomous Systems 8 http://dx.doi.org/10.1016/j.robot.2009.03.013 db/journals/ras/ras57.html#LiberaMFIPM09