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R. Moser, Roger Gassert, Etienne Burdet, L. Sache, H. R. Woodtli, J. Erni, W. Maeder, Hannes Bleuler. An MR compatible robot technology. In Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 14-19, 2003, Taipei, Taiwan. pages 670-675, IEEE, 2003.

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