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. Author manuscript; available in PMC: 2014 Apr 1.
Published in final edited form as: Ann N Y Acad Sci. 2013 Mar;1279:114–126. doi: 10.1111/nyas.12065

Figure 3.

Figure 3

Simulation results using a framework of primitives. Simulating wiping forces and kinematics with the primitive framework and model frog. (A) Model structure. (B) Activation of muscles as synergies. (C) The isometric force pattern produced by the model frog (solid lines) closely matched the force pattern recorded experimentally (dotted lines). (D) After making minor adjustments to the isometric motor pattern (amplitude scaling the ensemble down slightly) the model frog also reproduced the free limb kinematics of the experimental frog. Without downscaling the forces were too strong, indicating potential feedback adjustment in isometric conditions. The top row shows hip and knee angles. The bottom row shows ankle velocity. Dashed line marks the time of target limb contact in the real frog. The gray area (PM) represents the 40-ms premovement period between EMG onset and motion onset that is observed in real frogs.