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. 2009 Apr 20;106(18):7601–7606. doi: 10.1073/pnas.0901512106

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Fig. 3. — Performance of the four controllers. For comparison, the optimal limb trajectories and commands (for the movement to target 1, the topmost target) for the best-case controller are displayed in each panel (black traces). (A) Optimal limb trajectories for the ND (red) controller (best-case trajectories in black). (Inset) Hindlimb orientation. (B) Thirteen muscle commands for the ND (red) controller and best-case controller (black). (C) Optimal limb trajectories for the JT (blue) controller. (D) Thirteen muscle commands for the JT (blue) controller. (E) Optimal limb trajectories for the low-dimensional controller (LDC) (green). (F) Thirteen muscle commands for the low-dimensional controller (green).