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A simplified scheme of the proposed motor control hierarchy in the joint-bimanual condition. FPA, the force produced by participant A; FPB, the force produced by participant B; FRH, the force produced by the right hand; FLH, the force produced by the left hand; Task-relevant, task-relevant dimension (i.e., task error); Task-irrelevant, task-irrelevant dimension (i.e., redundancy).
