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. Author manuscript; available in PMC: 2012 Oct 1.
Published in final edited form as: Exp Brain Res. 2011 Aug 13;214(3):335–350. doi: 10.1007/s00221-011-2831-8

Figure 9.

Figure 9

A hypothetical control hierarchy within the referent configuration hypothesis. At level 1, the task-specific input is one-dimensional (corresponding to COPAP trajectory). This input is shared among a higher-dimensional set of signals (Level 2) that translate into M-mode magnitudes. At level 3, each M-mode magnitude signal maps on inputs (λs, thresholds of the tonic stretch reflex) into motoneuronal pools that contribute to that particular M-mode. At Level 4, the inputs into the motoneuronal loops translate into muscle activations (as well as forces and displacements) as a result of interactions with the external load.