Robot control, training and collaboration in an immersive virtual reality environment. Guerin, K. & Hager, G. D May 9, 2017. US Patent 9,643,314
bibtex   
@misc{guerin2017robot,
  title={Robot control, training and collaboration in an immersive virtual reality environment},
  author={Guerin, Kelleher and Hager, Gregory D},
  year={2017},
  month=may # "~9",
  note={US Patent 9,643,314}
}

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