Figure 2.

Accommodation and equilibration. Top left: a maximally equilibrated sensorimotor organization O; a trajectory in sensorimotor space is shown within the gray band defined by O. Top right: a perturbation brings the sensorimotor trajectory outside the gray band, however, due to plastic changes, the trajectory is accommodated and a cycle restored. Bottom left: through repeated perturbations and re-equilibrations, the organization O has been turned into O₁ and another organization O₂ has been equilibrated, they correspond now to two different kinds of sensorimotor engagements. Bottom right: O₂ attains maximal equilibration (represented graphically as a smoother trajectory that does not leave the gray band) and O₁ has been re-shaped due to a mutual accommodation between the two clearly distinct sensorimotor schemes.