Towards an Enabling Multimodal Interface for an Assistive Robot - Stoelen, Martin Fodstad; Jardon Huete, Alberto; Bonsignorio, Fabio; Gonzalez Victores, Juan Carlos; Monje Micharet, Concepcion Alicia; Balaguer Bernaldo De Quiros, Carlos (Workshop on Multimodal Human-Robot Interfaces, 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), 2010)