Experiments to identify precision grip dynamics between the index finger and thumb have been performed using a ball-drop experiment. A subject holds a device with a small receptacle into which an object is dropped, and the response is measured (Fagergren, 2000). Assuming a step input, it has been found that the response of the motor subsystem together with the sensory system is of the form

Convert this transfer function to a state-space representation.

Y(s) s+c G(s) = R(s) (s2 + as + b)(s + d)