Figure 10

Example of two movements carried out by the arm model guided by the trained neural controller starting from the same initial position. The starting point is the same for the 2 tasks (coordinates: x = -0.2; y = 0.2); the arrival points have been chosen in 2 different symmetric positions with respect to the starting point, at a distance of about 22.4 cm. Each row represents a different movement. The left column of this image depicts the trajectory followed by the wrist. The central column shows the neural inputs necessary for the motor commands of the flexor and extensor muscles acting on both the shoulder and the elbow joint. The right column shows the wrist velocity profile.