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Human-Inspired Haptic-Enabled Learning From Prehensile Move..:

Lillienskiold, Aleksander ; Rahal, Rahaf ; Giordano, Paolo Robuffo..
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  52 (2022)  4 - p. 2061-2072 , 2022
Link: https://doi.org/10.1109/tsmc.2020.3046775