Cabras, Stefano, María Eugenia Castellanos, and Ernesto Staffetti. "Contact-State Classification in Human-Demonstrated Robot Compliant Motion Tasks Using the Boosting Algorithm." IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) 40, no. 5 (2010).

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.