Attractor and Lyapunov models for reach and grasp movements with application to robot-assisted therapy.

Abstract

The principles of attractors and Lyapunov exponents were used to develop a reaching-to-grasp model for use in a robotic therapy system for stroke patients. Previously known models for these movements, the fifth order minimum jerk and the seventh order polynomial, do not account for the change in grasp aperture of the hand. The Lyapunov model was tested with… (More)

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Cite this paper

@article{Guastello2009AttractorAL, title={Attractor and Lyapunov models for reach and grasp movements with application to robot-assisted therapy.}, author={Stephen J. Guastello and Dominic E. Nathan and Michelle J. Johnson}, journal={Nonlinear dynamics, psychology, and life sciences}, year={2009}, volume={13 1}, pages={99-121} }