High level functions for the intuitive use of an assistive robot. - Olivier Lebec; Mohamed Walid Ben Ghezala; Violaine Leynart; Isabelle Laffont; Charles Fattal; Laurence Devillers; Clément Chastagnol; Jean-Claude Martin; Youcef Mezouar; Hermanth Korrapatti; Vincent Dupourqué; Christophe Leroux (ICORR, 2013)