Vision-assisted control for manipulation using virtual fixtures. Bettini, A., Marayong, P., Lang, S., Okamura, A. M, & Hager, G. D IEEE Transactions on Robotics, 20(6):953–966, IEEE, 2004.
bibtex   
@article{bettini2004vision,
  title={Vision-assisted control for manipulation using virtual fixtures},
  author={Bettini, Alessandro and Marayong, Panadda and Lang, Samuel and Okamura, Allison M and Hager, Gregory D},
  journal={IEEE Transactions on Robotics},
  volume={20},
  number={6},
  pages={953--966},
  year={2004},
  publisher={IEEE}
}

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