For citations:

Chernakova S.E., Stankevich L.A., Hlopin S.V., Nechaev A.I. Human - Robot Interaction During Learning and Telecontrol of the Heterogenic Robotic Systems Based on a Movement Shape Model. Mekhatronika, Avtomatizatsiya, Upravlenie. 2017;18(7):458-468. (In Russ.) https://doi.org/10.17587/mau.18.458-468