@article {Stanczyk:November 2006:0169-1864:1303,
	author = "Stanczyk, Bartlomiej",
	author = "Peer, Angelika",
	author = "Buss, Martin",
	title = "Development of a high-performance haptic telemanipulation system with dissimilar kinematics",
	journal = "Advanced Robotics",
	volume = "20",
	year = "November 2006",
	abstract = "This work addresses selected practical issues regarding the development of a telerobotic system for 6-d.o.f. tasks. The system consists of a hyper-redundant 10-d.o.f. haptic input device ViSHaRD10, a redundant 7-d.o.f. manipulator and a stereo vision system. The redundancy of the haptic input device is exploited to assure large convex workspaces and singularity-free operation. The anthropomorphic construction of the telemanipulator enables intuitive manipulation and increases the user-friendliness of the overall system. As a practical benchmark, an assembly experiment in 6 d.o.f. for the case of a negligible time delay was performed. Issues regarding inverse kinematics, spatial interaction control, transparency and intuitiveness of teleoperation are discussed.",
	pages = "1303-1320(18)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2006/00000020/00000011/art00007"
	doi = "doi:10.1163/156855306778792461"
}