Figure 6.

Trajectories of the single target experiment. Targets of the reach movements are shown in red. When the arm reached at least the shaded area around the targets it was deemed to have reached the target. The gray square illustrates the size of the tip of the end effector. The base of the robot arm (shoulder) was positioned approximately 9 cm under the starting point of the end effector. The end effector itself was located in the origin of the trajectories (35 cm, 35 cm). The robot arm was able to follow a quasi straight path to the target. All trajectories are mean trajectories of 5 trials.