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. Author manuscript; available in PMC: 2018 Jan 1.
Published in final edited form as: Exp Brain Res. 2016 Sep 6;235(1):1–14. doi: 10.1007/s00221-016-4768-4

Figure 6.

Figure 6

Schematic of two groups of potential neural variables (NV1 and NV2). NV1 define referent coordinates (RC) at different levels of the hierarchy, from the task level to the muscle level (RC = λ). NV2 define back-coupling gains in the abundant transformations thus defining stability of the action.