Martin Leroux and  Sylvain Brisebois,  Mathematical Description of Functional Motion and Application as a Feeding Mode for General Purpose Assistive Robots.   journal   = {International Journal of Biomedical and Biological Engineering}, [online]. World Academy of Science, Engineering and Technology.
    March 2018, vol. 136(4). 138 - 144
    [viewed 18 November 2019]. Available from: https://publications.waset.org/pdf/10008890.