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Kinesthetic Teaching Using Assisted Gravity Compensation for Model-Free Trajectory Generation in Confined Spaces. Gearing Up and Accelerating Cross-Fertilization between Academic and Industrial Robotics Research in Europe. 94:107–127.. 2013.
A User Study on Kinesthetic Teaching of Redundant Robots in Task and Configuration Space. Journal of Human-Robot Interaction. 2:56–81.. 2013.