Roko Tschakarow Sorin Mihai Grigorescu Axel Graeser FRIEND - A Dependable Semiautonomous Rehabilitation. 1-7 2010 ISR/ROBOTIK http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5756820 conf/isr/2010 db/conf/isr/isr2010.html#TschakarowGG10