Figure 7.

A possible feedforward control scheme for the flexible bimanual movement deduced from our experimental results. In bimanual movement, the internal model for each arm must compensate for the mechanical interactions resulting from movements of the other arm. Neuronal signals reflecting planned movements (broken lines) and/or efference copy of the other arm (dashed-dotted lines) may be multiplicatively integrated within the internal model of each arm. This multiplicative integration in the primitives contributes to construct a flexible output from each controller depending on the kinematics of both arms.