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Publications


Journal Publications:

J57: Secoli R, Milot MH, Rosati G, Reinkensmeyer D (2011) Effect of visual distraction and auditory feedback on patient effort during robot-assisted movement training after stroke, Journal of NeuroEngineering and Rehabilitation 2011, 8:21

J56: Klein J, Spencer S, Allington J, Bobrow JE, Reinkensmeyer DJ (2010) Optimization of a Parallel Shoulder Mechanism to Achieve a High-Force, Low-Mass, Robotic-Arm Exoskeleton, Robotics, IEEE Transactions on (pdf)

J55: Marchal-Crespo L, Reinkensmeyer DJ (2009) Review of control strategies for robotic movement training after neurologic injury, Journal of Neuroengineering and Rehabilitation (pdf)

J54: Adnan KN, Ahmad I, Coussens M, Eliakim A, Gallitto S, Grochow D, Koeppel R, Nemet D, Rich J, Waffarn F, Cooper DM, Reinkensmeyer DJ (2009) A haptic simulator for training the application of range of motion exercise to premature infants, to appear, ASME Journal of Medical Devices

J53: Housman SJ, Scott KM, Reinkensmeyer DJ (2009) A randomized controlled trial of gravity-supported, computer-enhanced arm exercise for individuals with severe stroke, Neurorehabilitation and Neural Repair, 23(5):505-14

J52: Wolbrecht ET, Chan V, Reinkensmeyer DJ, Bobrow JE (2009) Pneumatic control of robots for rehabilitation, International Journal of Robotics Research, Online first

J51: Reinkensmeyer DJ, Patton JL (2009) Can robots help the learning of skilled actions?, Exercise and Sports Sciences Reviews, 37(1):43-51

J50: Klein J, Obrador M, Gascons N, Reinkensmeyer DJ (2008) The effect of dynamic arm support on grip forces and steering errors during simulated driving, International Journal of Heavy Vehicle Systems, 15:449 - 459

J49: Wolbrecht, ET, Chan V, Reinkensmeyer DJ, Bobrow JE (2008) Optimizing compliant, model-based robotic assistance to promote neurorehabilitation, IEEE Trans Neural Syst and Rehab Eng, 16(3):286-97

J48: Marchal L, Reinkensmeyer DJ (2008) Haptic guidance can enhance motor learning of a steering task, Journal of Motor Behavior, 40(6):545-57

J47: Emken JL, Beres-Jones J, Harkema SJ, Ferreira C, Reinkensmeyer DJ (2008) Feasibility of manual teach-and-replay and continuous impedance shaping for robotic locomotor training following spinal cord injury, IEEE Trans on Biomedical Engineering, 55:322-334

J46: Emken JL, Benitez R, Sideris A, Bobrow JE, Reinkensmeyer DJ (2007) Motor adaptation as a greedy optimization of error and effort, Journal of Neurophysiology, 97(6):3997-4006.

J45: Aoyagi D, Ichinose WE, Harkema SJ, Reinkensmeyer DJ, Bobrow JE (2007) A robot and control algorithm that can synchronously assist in naturalistic motion during body weight supported gait training following neurologic injury, IEEE Trans Neural Syst and Rehab Eng 15(3):387-400.

J44: Cha J, Heng C, Reinkensmeyer DJ, Roy RR, Edgerton VR, de Leon RD (2007) Locomotor ability in spinal rats is dependent on the amount of activity imposed on the hindlimbs during treadmill training, Journal of Neurotrauma 24(6):1000-12

J42: Liu J, Cramer SC, Reinkensmeyer (2006) Learning to perform a new movement with robotic assistance: Comparison of haptic guidance and visual demonstration, Journal of Neuroengineering and Rehabilitation, 31;3(1):20 J43: Liu J, Reinkensmeyer DJ (2006) Motor adaptation to a small force field superimposed on a large background force, Experimental Brain Research, 178(3):402-14

J41: Emken JL, Benitez R, Reinkensmeyer DJ (2007) Human-robot cooperative movement training: learning a novel sensory motor transformation during walking with robotic assistance-as-needed, Journal of Neuroengineering and Rehabilitation, 4:8

J40: Nessler JA, Minakata K, Sharp K, Reinkensmeyer DJ (2007) Robot-assisted hindlimb extension increases the probability of swing initiation during treadmill walking by spinal cord contused rats, Journal of Neuroscience Methods 159(1):66-77.

J39: Sanchez RJ, Liu J, Rao S, Shah P, Smith R, Rahman T, Cramer SC, Bobrow JE, Reinkensmeyer DJ (2006) Automating arm movement training following severe stroke: functional exercises with quantitative feedback in a gravity-reduced environment, IEEE Trans on Neural Systems and Rehabilitation Engineering, 14:3, 378-389

J38: Nessler JA, de Leon RD, Sharp K, Kwak E, Minakata K, Reinkensmeyer DJ (2006) Robotic gait analysis of bipedal treadmill stepping by spinal contused rats: characterization of intrinsic recovery and comparison with BBB, Journal of Neurotrauma 23(6):882-96.

J37: Kahn LE, Zygman ML, Rymer WZ, Reinkensmeyer DJ (2006) Robot-assisted reaching exercise promotes arm movement recovery in chronic hemiparetic stroke: A randomized controlled pilot study, Journal of Neuroengineering and Rehabilitation, 3:12

J36: Reinkensmeyer DJ, Aoyagi D, Emken JL, Galvez J, Ichinose W, Kerdanyan G, Maneekobkunwong S, Minakata K, Nessler JA, Weber R, Roy RR, de Leon R, Bobrow JE, Harkema JE, Edgerton VR (2006) Tools for understanding and optimizing robotic gait training, Invited Paper, Journal of Rehabilitation Research and Development, 43:5, 657–670

J35: Kahn LE, Lum PS, Rymer WZ, Reinkensmeyer DJ (2006) Robot-assisted movement training for the stroke-impaired arm: Does it matter what the robot does? Invited Paper, Journal of Rehabilitation Research and Development, 43: 5, 619–630

J34: Emken JL, Wynne JH, Harkema SJ, Reinkensmeyer DJ (2006) A robotic device for measuring and manipulating stepping, IEEE Transactions on Robotics, 22:1, 185 - 189

J33: Fong A, Cai L, Otoshi C, Reinkensmeyer DJ, Burdick J., Roy RR, Edgerton VR (2005) Spinally transected adult mice learn to step in response to quipazine administration and robotic training, Journal of Neuroscience, 25(50):11738-47.

J32: Takahashi CD, Nemet D, Rose-Gottron CM, Larson JK, Cooper DM, Reinkensmeyer DJ (2006) Effect of muscle fatigue on internal model formation and retention during reaching with the arm, Journal of Applied Physiology, 100(2):695-706

J31: Nessler JA, Timoszyk W, Merlo M, Emken JL, Minakata K, Roy RR, DeLeon RD, Edgerton VR, Reinkensmeyer DJ (2005), A robotic device for studying rodent locomotion following spinal cord injury, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 13:4, 497 - 506

J30: Timoszyk WK, Nessler JA, Acosta C, Roy RR, Edgerton VR, Reinkensmeyer DJ, De Leon RD, Hindlimb loading determines stepping quantity and quality following spinal cord transection (2005), Brain Research 1050(1-2):180-189

J29: Galvez JA, Reinkensmeyer DJ (2005) Robotics for gait training after spinal cord injury, Topics in Spinal Cord Injury Rehabilitation, 11(2):18-33

J28: Emken JL, Reinkensmeyer DJ (2005) Robot-enhanced motor learning: Accelerating internal model formation during locomotion by transient dynamic amplification, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 13(1):33-9.

J27: Maalouf, M, Takahashi CD, Reinkensmeyer DJ, Cooper DM, Rho JM (2006) Impaired motor control in patients with benign focal epilepsy of childhood, J Child Neurol. Feb;21(2):157-60.

J26: Wang CY, Bobrow JE, Reinkensmeyer DJ (2005) Dynamic motion planning for the design of robotic gait rehabilitation, Journal of Biomechanical Engineering – Transactions of the ASME 127 (4): 672-679

J25: Reinkensmeyer DJ, Emken JL, Cramer SC (2004) Robotics, motor learning, and neurologic recovery, Annual Review of Biomedical Engineering, (Invited paper) August 2004, Vol. 6, pp. 497-525

J24: Takahashi CD, Nemet D, Rose-Gottron CM, Larson JK, Cooper DM, Reinkensmeyer DJ (2003) Neuromotor noise limits motor performance, but not motor adaptation, in children. Journal of Neurophysiology 90:703-722

J23: Reinkensmeyer DJ, Iobbi MG, Kahn LE, Kamper DG, Takahashi CD (2003) Modeling reaching impairment after stroke using a population vector model of movement control that incorporates neural firing rate variability, Neural Computation, vol. 15, no. 11, 2619-2642

J22: Takahashi CD, Reinkensmeyer DJ (2003) Hemiparetic stroke impairs anticipatory control of arm movement, Experimental Brain Research 149(2):131-40.

J21: Timoszyk WK, de Leon RD, London N, Roy RR, Edgerton VR, Reinkensmeyer DJ (2002) The rat lumbosacral spinal cord adapts to robotic loading applied during stance, Journal of Neurophysiology, 88(6):3108-17

J20: de Leon RD, Phelps PE, Kubasak M, Reinkensmeyer DJ, Timoszyk WK, Roy RR, Edgerton VR (2002) Using robotics to teach the spinal cord to walk, Brain Research Reviews 40(1-3):267-73

J19: Lum PS, Reinkensmeyer DJ, Mahoney R, Rymer WZ, Burgar C (2002) Robotic devices for movement therapy following stroke: Current status and challenges to clinical acceptance, Topics in Stroke Rehabilitation, 8:4 pp. 40-53

J18: Reinkensmeyer DJ, Pang CT, Nessler CA, Painter CC (2002) Web-based telerehabilitation for the upper-extremity after stroke, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 10, no. 2, pp. 102-108

J17: Reinkensmeyer DJ, Cole A, Kahn LE, Kamper DJ (2002) Directional control of reaching is preserved following mild/moderate stroke and stochastically constrained following severe stroke, Experimental Brain Research, 143: 525-530

J16: de Leon RD, Reinkensmeyer DJ, Timoszyk WK, London NJ, Roy RR, Edgerton VR (2001) Use of robotics in assessing the adaptive capacity of the rat lumbar spinal cord, in Spinal Cord Trauma: Regeneration, Neural Repair and Functional Recovery, Progress in Brain Research, chapter 11, vol. 137 L. McKerracher, G. Douchet, and S. Rossignol (eds), pp. 141-149.

J15: Kamper DG, McKenna AN, Kahn LE, Reinkensmeyer DJ (2002) Alterations in reaching after stroke and their relationship to movement direction and impairment severity, Archives of Physical Medicine and Rehabilitation, 83:702-7

J14: Timoszyk WK, de Leon RD, London N, Joynes R, Minakata K, Edgerton VR, Reinkensmeyer DJ (2003) Comparison of virtual and physical treadmill environments for training stepping after spinal cord injury, invited paper, Robotica, vol. 21, 25-32

J13: Takahashi CD, Scheidt RA, Reinkensmeyer DJ (2001) Impedance control and internal model formation when reaching in a randomly varying dynamical environment, Journal of Neurophysiology, 86:1047-1051

J12: Edgerton, V.R., de Leon, R.D., Harkema, S.J., Hodgson, J.A., London, N., Reinkensmeyer, D.J., Roy, R.R., Talmadge, R.J., Tillakaratne, N.J., Timoszyk, W., and Tobin, A. (2001) Retraining the injured spinal cord. J Physiology (London) 533 (1): 15-22.

J11: Reinkensmeyer DJ, Takahashi CD, Timoszyk WK, Reinkensmeyer AN, Kahn LE (2000) Design of robot assistance for arm movement therapy following stroke, invited paper, Advanced Robotics, Vol. 14 No. 7, pp. 625-638

J10: Reinkensmeyer DJ, Kahn LE, Averbuch M, McKenna-Cole AN, Schmit BD, Rymer WZ (2000) Understanding and treating arm movement impairment after chronic brain injury: Progress with the ARM Guide, Journal of Rehabilitation Research and Development, Vol. 37 No. 6, pp. 653-662

J9: Scheidt RA, Reinkensmeyer DJ, Conditt MA, Rymer WZ, Mussa-Ivaldi FA (2000) Persistence of motor adaptation during constrained, multi-joint arm movements, Journal of Neurophysiology, 84:853-862

J8: Reinkensmeyer DJ, Schmit BD, Rymer WZ (1999) Mechatronic assessment of arm impairment after chronic brain injury, Technology and Health Care, invited paper, official journal of the European Society for Engineering and Medicine, vol. 7, No. 6, pp. 431-436

J7: Reinkensmeyer DJ, Schmit BD, Rymer WZ (1999) Assessment of active and passive restraint during guided reaching after chronic brain injury, Annals of Biomedical Engineering, vol. 27, no. 6, 805-814

J6: Reinkensmeyer DJ, Dewald JPA, Rymer WZ (1999) Guidance-based quantification of arm impairment following brain injury: A pilot study, IEEE Trans on Rehabilitation Engineering, vol. 7, no. 1, pp. 1-11

J5: Reinkensmeyer DJ, Dewald JPA, Rymer WZ (1996) Robotic devices for physical rehabilitation of stroke patients: Fundamental requirements, target therapeutic techniques, and preliminary designs. Technology and Disability 5: 205-215

J4: Lum PS, Lehman SL, Reinkensmeyer DJ (1995) The bimanual lifting rehabilitator: a device for rehabilitating bimanual control in stroke patients. IEEE Trans on Rehabilitation Engineering, vol. 3, no. 2, pp. 166-174

J3: Lum PS, Reinkensmeyer DJ, Lehman SL (1993) Robotic assist devices for bimanual physical therapy: preliminary experiments. IEEE Trans on Rehabilitation Engineering, vol. 1, no. 3, pp. 185-191

J2: Reinkensmeyer DJ, Lum PS, Lehman SL (1992) Human control of a simple two-hand grasp. Biological Cybernetics 67:553-564

J1: Lum PS, Reinkensmeyer DJ, Lehman SL, Li PY, Stark LW (1992) Feedforward stabilization in a bimanual unloading task. Experimental Brain Research 89:172-180

Conference Papers

C21: Secoli, R.; Rosati, G.; Reinkensmeyer, D.J.; , "Using Sound feedback to counteract visual distractor during robot-assisted movement training," Haptic Audio visual Environments and Games, 2009. HAVE 2009. IEEE International Workshop on , vol., no., pp.135-140, 7-8 Nov. 2009 (pdf)

C20: Reinkensmeyer, D.J.; Maier, M.A.; Guigon, E.; Chan, V.; Akoner, O.M.; Wolbrecht, E.T.; Cramer, S.C.; Bobrow, J.E.; , "Do robotic and non-robotic arm movement training drive motor recovery after stroke by a common neural mechanism? experimental evidence and a computational model," Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE , vol., no., pp.2439-2441, 3-6 Sept. 2009 (pdf)

C19: Reinkensmeyer, D.J.; Akoner, O.M.; Ferris, D.P.; Gordon, K.E.; , "Slacking by the human motor system: Computational models and implications for robotic orthoses," Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE , vol., no., pp.2129-2132, 3-6 Sept. 2009 (pdf)

C18: Spencer, S.J.; Klein, J.; Minakata, K.; Le, V.; Bobrow, J.E.; Reinkensmeyer, D.J.; , "A low cost parallel robot and trajectory optimization method for wrist and forearm rehabilitation using the Wii," Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on , vol., no., pp.869-874, 19-22 Oct. 2008 (pdf)

C17: Klein, J.; Spencer, S.J.; Allington, J.; Minakata, K.; Wolbrecht, E.T.; Smith, R.; Bobrow, J.E.; Reinkensmeyer, D.J.; , "Biomimetic orthosis for the neurorehabilitation of the elbow and shoulder (BONES)," Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on , vol., no., pp.535-541, 19-22 Oct. 2008 (pdf)

C16: Crespo, L.M.; Reinkensmeyer, D.J.; , "Effect of robotic guidance on motor learning of a timing task," Biomedical Robotics and Biomechatronics, 2008. BioRob 2008. 2nd IEEE RAS & EMBS International Conference on , vol., no., pp.199-204, 19-22 Oct. 2008 (pdf)

C15: Wolbrecht, E.T.; Chan, V.; Le, V.; Cramer, S.C.; Reinkensmeyer, D.J.; Bobrow, J.E.; , "Real-time computer modeling of weakness following stroke optimizes robotic assistance for movement therapy," Neural Engineering, 2007. CNE '07. 3rd International IEEE/EMBS Conference on , vol., no., pp.152-158, 2-5 May 2007 (pdf)

C14: Reinkensmeyer, D.J.; Galvez, J.A.; Marchal, L.; Wolbrecht, E.T.; Bobrow, J.E.; , "Some Key Problems for Robot-Assisted Movement Therapy Research: A Perspective from the University of California at Irvine," Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on , vol., no., pp.1009-1015, 13-15 June 2007 (pdf)

C13: Housman, S.J.; Vu Le; Rahman, T.; Sanchez, R.J.; Reinkensmeyer, D.J.; , "Arm-Training with T-WREX After Chronic Stroke: Preliminary Results of a Randomized Controlled Trial," Rehabilitation Robotics, 2007. ICORR 2007. IEEE 10th International Conference on , vol., no., pp.562-568, 13-15 June 2007 (pdf)

C12: Galvez, J.A.; Budovitch, A.; Harkema, S.J.; Reinkensmeyer, D.J.; , "Quantification of Therapists' Manual Assistance on the Leg during Treadmill Gait Training with Partial Body-Weight Support after Spinal Cord Injury," Engineering in Medicine and Biology Society, 2007. EMBS 2007. 29th Annual International Conference of the IEEE , vol., no., pp.4028-4032, 22-26 Aug. 2007 (pdf)

C11: Wolbrecht, E.T.; Leavitt, J.; Reinkensmeyer, D.J.; Bobrow, J.E.; , "Control of a Pneumatic Orthosis for Upper Extremity Stroke Rehabilitation," Engineering in Medicine and Biology Society, 2006. EMBS '06. 28th Annual International Conference of the IEEE , vol., no., pp.2687-2693, Aug. 30 2006-Sept. 3 2006 (pdf)

C10: Emken, J.L.; Bobrow, J.E.; Reinkensmeyer, D.J.; , "Robotic movement training as an optimization problem: designing a controller that assists only as needed," Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on , vol., no., pp. 307- 312, 28 June-1 July 2005 (pdf)

C9: Sanchez, R.J., Jr.; Wolbrecht, E.; Smith, R.; Liu, J.; Rao, S.; Cramer, S.; Rahman, T.; Bobrow, J.E.; Reinkensmeyer, D.J.; , "A pneumatic robot for re-training arm movement after stroke: rationale and mechanical design," Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on , vol., no., pp. 500- 504, 28 June-1 July 2005 (pdf)

C8: Galvez, J.A.; Kerdanyan, G.; Maneekobkunwong, S.; Weber, R.; Scott, M.; Harkema, S.J.; Reinkensmeyer, D.J.; , "Measuring human trainers' skill for the design of better robot control algorithms for gait training after spinal cord injury," Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on , vol., no., pp. 231- 234, 28 June-1 July 2005 (pdf)

C7: Liu, J.; Emken, J.L.; Cramer, S.C.; Reinkensmeyer, D.J.; , "Learning to perform a novel movement pattern using haptic guidance: slow learning, rapid forgetting, and attractor paths," Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on , vol., no., pp. 37- 40, 28 June-1 July 2005 (pdf)

C6: Nessler, J.A.; Minakata, K.; Sharp, K.; Reinkensmeyer, D.J.; , "Gait activity depends on limb extension and phasing in spinal cord contused rodents: implications for robotic gait training and assessment," Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on , vol., no., pp. 556- 560, 28 June-1 July 2005 (pdf)

C5: Sanchez, R.; Reinkensmeyer, D.; Shah, P.; Liu, J.; Rao, S.; Smith, R.; Cramer, S.; Rahman, T.; Bobrow, J.; , "Monitoring functional arm movement for home-based therapy after stroke," Engineering in Medicine and Biology Society, 2004. IEMBS '04. 26th Annual International Conference of the IEEE , vol.2, no., pp.4787-4790, 1-5 Sept. 2004 (pdf)

C4: Nessler, J.A.; Reinkensmeyer, D.J.; Sharp, K.; Kwak, E.; Minakata, K.; DeLeon, R.D.; , "Robotic assessment of locomotor recovery in spinal contused rats," Engineering in Medicine and Biology Society, 2004. IEMBS '04. 26th Annual International Conference of the IEEE , vol.1, no., pp.2687-2690, 1-5 Sept. 2004 (pdf)

C3: Emken, J.L.; Reinkensmeyer, D.J.; , "Accelerating motor adaptation by influencing neural computations," Engineering in Medicine and Biology Society, 2004. IEMBS '04. 26th Annual International Conference of the IEEE , vol.2, no., pp.4033-4036, 1-5 Sept. 2004 (pdf)

C2: Reinkensmeyer, D.J.; , "How to retrain movement after neurologic injury: a computational rationale for incorporating robot (or therapist) assistance," Engineering in Medicine and Biology Society, 2003. Proceedings of the 25th Annual International Conference of the IEEE , vol.2, no., pp. 1479- 1482 Vol.2, 17-21 Sept. 2003 (pdf)

C1: Emken, J.L.; Reinkensmeyer, D.J.; , "Evidence for an internal model dedicated to locomotor control," Engineering in Medicine and Biology Society, 2003. Proceedings of the 25th Annual International Conference of the IEEE , vol.2, no., pp. 1503- 1506 Vol.2, 17-21 Sept. 2003 (pdf)

Book Chapters:

B9: Reinkensmeyer DJ (2008) Robotic assistance for upper extremity training after stroke, Advanced Technologies in Neurorehabilitation: Emerging Applications in Evaluation and Treatment, IOS Press

B8: L.E. Sucar, G. Azcárate, R. Leder, D. Reinkensmeyer, J. Hernández, I., Sánchez, P. Saucedo, ``Gesture Therapy: A vision--based system for arm rehabilitation after stroke", in A. Fred, J. Filipe, H. Gamboa (Eds.), Biomedical Engineering Systems and Technology, Springer-Verlag, pp. 531--540, 2008.

B7: Reinkensmeyer DJ, Van der Loos M (2008) Chapter 54: Health Care and Rehabilitation Robotics, in Springer Handbook of Robotics, Bruno Siciliano and Oussama Khatib (eds), Springer Press

B6: Reinkensmeyer DJ, Lum PS, Winters J (2002) Emerging technologies for improving access to movement therapy following neurologic injury, in Emerging and Accessible Telecommunications, Information and Healthcare Technologies: Engineering Challenges in Enabling Universal Access, Winters JM, Robinson CJ, Simpson RC., Vanderheiden GC. (eds), RESNA Press, Arlington Va., pp. 136-150

B5: Reinkensmeyer DJ (2003) Rehabilitators, Standard Handbook of Biomedical Engineering & Design, McGraw-Hill, chapter 35, pp. 35.1 – 35.17

B4: Reinkensmeyer DJ, Hogan N, Krebs HI, Lehman SL, Lum PS (2000) Rehabilitators, robots, and guides: New tools for neurological rehabilitation, in Biomechanics and Neural Control of Posture and Movement, ed. Jack Winters and Pat Crago, Springer-Verlag, 516-533.

B3: Atkeson CG, Reinkensmeyer DJ (1990) Using associative content-addressable memories to control robots. in Neural Networks for Control, WT Miller III, RS Sutton, PJ Werbos (ed) The MIT Press, Cambridge, Massachusetts, 255-286

B2: Atkeson CG, Reinkensmeyer DJ (1990) Using associative content-addressable memories to control robots. In Artificial Intelligence Research at MIT, Winston and Shellard (ed) vol 2, ch 28, 102-127

B1: Atkeson CG, Abouf E, McIntyre JA, Reinkensmeyer DJ (1987) Model-based robot learning. In Robotics Research: The Fourth Int. Symposium, R Bolles, B Roth (ed) MIT Press, Cambridge, Massachusetts, 103-110