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Tickel, T., D. Hannon, K. M. Lynch, M. A. Peshkin, and J. E. Colgate, "Kinematic constraints for assisted single-arm manipulation", Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, vol. 2: IEEE, pp. 2034–2041, 2002.
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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.