Figure 11

Example of two movements carried out by the arm model guided by the trained neural controller starting from different initial positions. The two tasks start from different points, and point towards different directions within the working plane. In the upper row, the central column shows the neural commands of the muscle pair of the shoulder and of the elbow joint necessary for the trajectory presented in the left column. The movement starts at the point [-0.4; 0.35] while the target point is at [-0.2; 0.2]. In the lower row, the right column shows the wrist velocity profile for the second movement whose starting point is at [-0.2; 0.3] and whose target point is at [-0.2; 0.1].