@article{vochten2023invariant,
  title={Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact},
  author={Vochten, Maxim and Mohammadi, Ali Mousavi and Verduyn, Arno and De Laet, Tinne and Aertbeli{\"e}n, Erwin and De Schutter, Joris},
  journal={IEEE Transactions on Robotics},
  year={2023},
  volume={39},
  number={6},
  pages={4892-4912},
  doi={10.1109/TRO.2023.3309230}}