Figure 12.

Learning multi-directional reaching movements. We evaluated five movement representations with an increasing number of shared synergies, i.e., M = {1, 2, 3, 4, 5}. The resulting trajectories of the marker placed on the radial stylion are shown in (A,C), where with less than three synergies not all targets can be reached. Illustrated are three independent learning results. In (B) we illustrate the average learning curves over 10 runs for these movement representations. For the representation using M = 4 synergies shown in (C) additionally the tangential velocity profiles are illustrated.