@inproceedings{marayong2008control,
  title={Control methods for guidance virtual fixtures in compliant human-machine interfaces},
  author={Marayong, Panadda and Hager, Gregory D and Okamura, Allison M},
  booktitle={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={1166--1172},
  year={2008},
  organization={IEEE}
}

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