Katherine M. Tsui Kareem Abu-Zahra Renato Casipe Jason M'Sadoques Jill L. Drury Developing heuristics for assistive robotics. 193-194 2010 HRI http://doi.acm.org/10.1145/1734454.1734539 conf/hri/2010 db/conf/hri/hri2010.html#TsuiACMD10