The manipulation contact forces convey substantial information about the manipulation state. This paper address the fundamental problem of interpreting the force signals without any additional manipulation context. Techniques based on forms of the generalized sequential likelihood ratio test are used to segment individual strain signals into statistically equivalent pieces. We report on our experimental development of the segmentation algorithm and on its results for contact states. The sequential likelihood ratio test is reviewed and some of its special cases and optimal properties are discussed. Finally, we conclude by discussing extensions to the techniques and a contact interpretation framework.
