Figure 5.

Schematic representation of the concatenation of DRD point-to-point solutions. The red line represents a possible exact solution to a reversal task. The first part of the concatenation-based trajectory (until the time of the via-point t_vp) corresponds to the individual center-out solution (dashed green line), which is affected by the forward dynamics error e_co(t_vp). This error propagates over the course of the second submovement (dashed blue line), leading to the final error e_coc(T). The latter is in general different from the final forward dynamics error e_oc(T) of the individual out-center movement (orange continuous line).