Figure 2. The learning framework.
1) Spontaneous motor activity stimulates the motor system and 2) causes the muscles to contract. 3) The generated forces are propagated through the musculoskeletal system (and the environment) and induce sensor stimulation in the primary (
) and secondary (
) spindle afferent fibers. 4) The correlation between the sensor and motor signals is used to self-organize the reflex networks, 
and 
which mediate the connectivity of afferents 
and 
respectively. 5) The reflex circuits are modulated from supraspinal systems using gains 
and 
which independently scale the reflex networks 
and 
respectively.