Yukio Horiguchi Tetsuo Sawaragi Naturalistic Human-Robot Collaboration Mediated by Shared Communicational Modality in Teleoperation System. 24-35 2001 conf/amt/2001 Active Media Technology http://link.springer.de/link/service/series/0558/bibs/2252/22520024.htm db/conf/amt/amt2001.html#HoriguchiS01