A user study on kinesthetic teaching of redundant robots in task and configuration space. - Sebastian Wrede 001; Christian Emmerich; Ricarda Grünberg; Arne Nordmann; Agnes Swadzba; Jochen J. Steil (J. Hum. Robot Interact., 2013)

Kinesthetic Teaching Using Assisted Gravity Compensation for Model-Free Trajectory Generation in Confined Spaces. - Jochen J. Steil; Christian Emmerich; Agnes Swadzba; Ricarda Grünberg; Arne Nordmann; Sebastian Wrede 001 (Technology Transfer Experiments from the ECHORD Project, 2014)