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. Author manuscript; available in PMC: 2019 Feb 21.
Published in final edited form as: Neuroscience. 2017 Dec 23;372:97–113. doi: 10.1016/j.neuroscience.2017.12.018

Figure 9.

Figure 9

A: The control of a joint crossed by only two muscles, flexor and extensor, can be described with setting two values of λ, {λFL; λEXT} or an equivalent pair of variables, r-command and c-command. The r-command sets the intercept of the torque-length line with the length axis and the c-command defines the slope of that line. Projection of the multi-dimensional afferent space on the torque-length line may be expressed as a value A1 of a higher-order variable A. B: When a person presses against a stop r-command shifts by Δr and βc shifts by Δβc. The value of A changes to A2.