Figure 7.

Model generalization ability. Performance of the optimized controller as the two starting postures are offset by a given number of degrees in joint space (A); as movements vary in duration (B) or amplitude (C); and as duration and amplitude are changed in proportion such as to maintain average velocity (D). Measures on horizontal axes are relative to values used for optimization, which are indicated by vertical lines. Performance drops the more movements differ from the optimized kinematics. In red we plot performance when cocontraction signals are adapted separately for each desired movement.