Table 1. Parameters corresponding to the simulated movements of Fig 3.

In all cases, initial and final positions were 25° and 65° (amplitude of 40°). The target width was 5° such that the index of difficulty (ID) was 4 bits. The reference end-point standard deviation can thus be 2.5°. The effort is measured as the quadratic cost in u according to Eq 21.

tf (ms)	EPstd (deg)	PV (deg/s)	qvar	Effort (×10−2)	IC (%)
475	2.51	139.75	50	16.99	22.35
400	2.41	161.56	50	27.36	27.36
400	1.89	178.87	500	94.16	80.15
475	2.82	134.79	1	4.03	<0.1
400	3.35	146.47	1	5.60	<0.1