@article{Rolf2015,
 author = {Matthias Rolf and Klaus Neumann and Jeffrey F. Queisser and Ren{\'{e}} Felix Reinhart and Arne Nordmann and Jochen J. Steil},
title = {{A Multi-Level Control Architecture for the Bionic Handling Assistant}},
journal = {Adv. Robotics},
volume = {29},
number = {13},
pages = {847--859},
year = {2015},
doi = {10.1080/01691864.2015.1037793}
}