Andrew P. Shacklock Matthew C. Pritchard Hong Luo Etienne Burdet Wei Lin Intuitive Command of Manipulators in Micro-scale Tasks. 846-851 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363091 db/conf/icra/icra2007.html#ShacklockPLBL07