Figure 5.

The BBD reaches accurately toward visual targets after training. During the testing period, the arm consistently moved in response to the visual stimulus. To demonstrate the accuracy of the movements, the joint angles of the commanded movements made during training (blue) and testing (red) are plotted in two-dimensional joint angle space every 200 ms for all five subjects. Note that the joint angles achieved during testing cluster around those achieved in the training period showing the accuracy of the visually guided, learned movements.