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2002
Lynch, K. M., C. Liu, A. Sørensen, S. M. Kim, M. A. Peshkin, J. E. Colgate, T. Tickel, D. Hannon, and K. Shiels, "Motion guides for assisted manipulation", The International Journal of Robotics Research, vol. 21, no. 1: SAGE Publications, pp. 27–43, 2002.