Fig. 5.

Generalization across the work space. The field is translation invariant in joint coordinates but not hand coordinates.A, Subjects trained at Left inB₃ and were then tested at Right inB₄ (bin size = 64 movements). Performance at Right was significantly better than that in controls.B, Rotations with respect to the null field in the preferred direction of EMG tuning functions during learning of fieldB₃ at Left (bin size = 192 movements) and testing in field B₄ at Right are shown. EMG rotations remained invariant to changes in arm configuration. Such invariance is sufficient for generalization of training.