Autonomous penetration detection for bone cutting tool using demonstration-based learning. - Takayuki Osa; Christian Farid Abawi; Naohiko Sugita; Hirotaka Chikuda; Shurei Sugita; Hideya Ito; Toru Moro; Yoshio Takatori; Sakae Tanaka; Mamoru Mitsuishi (ICRA, 2014)