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. 218-231 2007 23 IEEE Transactions on Robotics 2 http://dx.doi.org/10.1109/TRO.2007.892227 db/journals/trob/trob23.html#MeeussenRGBS07