Methods Published on 17 Oct 2019 Symbolic-Based Recognition of Contact States for Learning Assembly Skills in Human-Robot Interaction Ali Al-YacoubYuchen ZhaoNiels LohseMey GohPeter KinnellPedro FerreiraElla-Mae Hubbard Frontiers in Robotics and AI doi 10.3389/frobt.2019.00099 12,342 views 10 citations