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An illustration of an effector in one-dimensional tasks. When referent coordinate of the effector (RCX) matches its actual coordinate XE, the effector rests at the bottom of the potential field (top). A shift of RCX leads to motion of the effector (the arrow in the middle panel). If the effector is blocked (by the black “brick”, bottom panel), RCX starts moving towards XE. This process is relatively slow compared to the direct coupling in the middle panel.
