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Hand paths generated by a single spinal circuit when optimized for an increasing number of movement directions. All movements have an amplitude of 10 cm, a duration of 0.3 s and proceed from the center (black dot) to targets spaced equally along a circle. Hand paths for most movements are approximately straight, except for those in the directions of 90° and 270° (dashed), which reflect a limitation of the biomechanical model.
