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Cabras, Stefano, Mar\'eda Eugenia Castellanos, and Ernesto Staffetti. "Contact-State Classification in Human-Demonstrated Robot Compliant Motion Tasks Using the Boosting Algorithm." \i IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)\i0  40, no. 5 (2010).\par \par 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." \i Information & Security: An International Journal\i0  9 (2002): 114-129.\par \par }