Skip to main content
. Author manuscript; available in PMC: 2015 Mar 5.
Published in final edited form as: Trends Cogn Sci. 2009 Dec 11;14(1):31–39. doi: 10.1016/j.tics.2009.11.004

Figure 2.

Figure 2

Task-dependent feedback control during a bimanual task. (a) In the two-cursor task, a force field applied to the left hand is corrected by the action of the left hand alone. (b) In the one-cursor task, part of the correction is performed by the right hand. (c) The task dependent component q(x) of the cost function comprises the distance between the position of the left hand (pL) and its goal (gL) and the distance between the right hand (pR) and its goal (GR). Minimisation of this cost function results in independent control gains (L) for the two hands. (d) The cost function for the one-cursor task predicts feedback control in which motor commands for the left hand (uL) depend on the state of both the left hand and right hands (x̂L and x̂R, respectively). Reproduced with permission from Ref. [32].