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IEEE Transactions on Robotics > 2015 > 31 > 2 > 246 - 258
IEEE Transactions on Robotics > 2015 > 31 > 1 > 31 - 39
IEEE Transactions on Robotics > 2014 > 30 > 3 > 666 - 678
IEEE Transactions on Biomedical Engineering > 2013 > 60 > 4 > 1050 - 1058