M.F. Stoelen, F. Bonsignorio, A. Jardon, C. Balaguer. Benchmarking Shared Control for Assistive Manipulators: From Controllability to the Speed-Accuracy Trade-Off. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012). , ISBN: , pages: 0 - 0, . 2012-10-07, Vilamoura, Portugal. 2012.