Figure 3.

Typical voltage-clamp recording of an ankle extensor motoneuron in the robotic arm experiments. Blue trace is the effective synaptic current measured at the MN soma as the ankle is extended and flexed in the non-push–pull condition (tendon to antagonist muscles cut). In the red trace, the system is left intact with the synaptic inputs acting on the MN in a push–pull fashion. The total peak-to-peak current as well as the I_Dep and I_Hyp components were facilitated during passive ankle rotations in the push–pull (pp) configuration.