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. 2012 Jan 12;367(1585):59–74. doi: 10.1098/rstb.2011.0147

Figure 1.

Figure 1.

The three layers proposed for percussive tasks. Except for the exterior platform angle, all the parameters in some way or another have to be controlled in any percussive task. Only movement parameters are recorded and allow for computation of regulatory and control parameters (adapted from Bril et al. [16]).