There are several authors which do this, fewer which do this WELL.
You might try any of Dave Lowry's (non-technical) books. He did one on Bokken which is technical not "philosophic" at all). He is an easily accessible and beautifully honed at with his words.
Adam Hsu, "The Sword Polishers Record..." should fit the bill
Lets see, C.W. Nicol's "Moving Zen" is probably THE benchmark of this subject. It was very recently republished and easy to find.
Depending on your particular preferences you might consider Terrence Wbester Doyle's materials. They are geared specifically towards children but are well illustrated, and like his approach or not, his materials are definately philosophic. (Not my cup of tea, I have severe concerns as to what I perceive as dangerous "60's love-bead" non assertiveness, but that's merely my perception right/wrong...
Dan Millmans Way of the Peaceful Warrior is excellently written story.
"Gates of Fire" (Pressfield ?) an excellent philosphic & martial story.
Read any of these
? Happy to articulate better when/as time allows,