Kazuhiro Kosuge, Koji Takeo, Toshio Fukuda, Tunehiko Sugiura, Akira Sakai, Koji Yamada. Unified approach for teleoperation of virtual and real environment for skill based teleoperation. In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1994, September 12 - 16, 1994, Munich, Germany. pages 1242-1247, IEEE, 1994. [doi]