Lefebvre, Tine. Contact modelling, parameter identification and task planning for autonomous compliant motion using elementary contacts In Faculteit Toegepaste Wetenschappen. Vol. Ph.D. Belgium: Katholieke Universiteit Leuven, 2003.

Mihaylova, Lyudmila, Tine Lefebvre, Ernesto Staffetti, Herman Bruyninckx, and Joris De Schutter. "Contact Transitions Tracking During Force-Controlled Compliant Motion Using an Interacting Multiple Model Estimator." Information & Security: An International Journal 9 (2002): 114-129.

Lefebvre, Tine, H. Bruyninckx, and J. De Schutter. Estimation and propagation of uncertainties during force-controlled execution of contact formation sequences In 10th Int. Conference on Advanced Robotics. Budapest, Hungary, 2001.

De Schutter, J., Tine Lefebvre, J. Katupitiya, J. De Geeter, S. Dutr´e, and H. Bruyninckx. "Estimating first-order geometric parameters and monitoring contact transitions during force-controlled compliant motions." International Journal of Robotics Research 18, no. 12 (1999): 1121-1184.