Lyudmila Mihaylova, Tine Lefebvre, Ernesto Staffetti, Herman Bruyninckx, Joris De Schutter"Contact Transitions Tracking During Force-Controlled Compliant Motion Using an Interacting Multiple Model Estimator."Information & Security: An International Journal9(2002):114-129.09.06_Mihaylova_Lefebvre_Staffetti_Bruyninckx_Schutter.pdf