Hermann Georg Mayer Darius Burschka Alois C. Knoll Eva U. Braun Rüdiger Lange Robert Bauernschmitt Human-machine skill transfer extended by a scaffolding framework. 2866-2871 2008 ICRA https://doi.org/10.1109/ROBOT.2008.4543644 conf/icra/2008 db/conf/icra/icra2008.html#MayerBKBLB08