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Study on Guidelines to Make Automated Service Machines:

Kishida, Koya ; Hisamune, Syuuji ; Ikegami, Thor.
Proceedings of the Human Factors and Ergonomics Society Annual Meeting.  44 (2000)  24 - p. 4-95-4-95 , 2000
Link: https://doi.org/10.1177/154193120004402426