@article{GMB:03,
        author={M. Goel and A. A. Maciejewski and V. Balakrishnan and R. W. Proctor},
	title={Failure tolerant teleoperation of a kinematically redundant
manipulator: An experimental study},
  journal = {{IEEE} Transactions on Systems, Man, and Cybernetics},
  volume = 33,
  number = 6,
  pages = {758-765},
  month = nov,
  year = 2003
}