Parameters of the M1 circuit model
symbol	value	unit	description
$N_{\text{E}}$	160	-	number of E units
$N_{\text{I}}$	40	-	number of I units
τ	150	ms	time constant of M1 dynamics
${\tau }_{\text{rise}}$	50	ms	rise time constant of $\mathit{h}\left(t\right)$
${\tau }_{\text{decay}}$	500	ms	decay time constant of $\mathit{h}\left(t\right)$
A	implicit	-	set so that $\mathit{h}\left(t\right)$ has a maximum of 5
Parameters of the arm mechanics and hand trajectories
symbol	value	unit	description
$L_1$	30	cm	length of upper arm link
$L_2$	33	cm	length of lower arm link
$M_1$	1.4	kg	mass of upper arm link
$M_2$	1.0	kg	mass of lower arm link
$D_2$	16	cm	center of mass of lower link, away from elbow
$I_1$	0.025	kg m-2	moment of inertia of upper link
$I_2$	0.045	kg m-2	moment of inertia of lower link
${\theta }_1^{\text{init}}$	10.	deg.	value of ${\theta }_1$ at rest
${\theta }_2^{\text{init}}$	143.54	deg.	value of ${\theta }_2$ at rest
${\theta }_{\text{reach}}^{\left(i\right)}$	$36\times \left(i-2\right)$	deg.	reach angles $\left(i=1,\dots ,8\right)$
$d_{\text{reach}}$	20	cm	reach distance
${\tau }_{\text{reach}}$	120	ms	time constant of reach velocity profile
Parameters of the LQR algorithm
symbol	value	unit	description
λ	0.1	-	input energy penalty in Equation 30
Parameters of the thalamo-cortical circuit model
symbol	value	unit	description
λ	0.01	-	input energy penalty in Equation 30
p	0.2	-	density of random connections from M1 to thalamus
$M_{\text{E}}$	100	-	number of E units in M1 L4
$M_{\text{I}}$	100	-	number of I units in M1 L4
${\tau }_y$	10	ms	neuronal time constant in thalamus
${\tau }_z$	10	ms	neuronal time constant in M1 L4
Parameters of the photoinhibition model
symbol	value	unit	description
$N_{\text{ph}}$	100	-	number of M1 I units perturbed (60%)
$h_{\text{ph}}$	3	-	input to perturbed I units during photoinhibition
$T_{\text{ph}}$	400	ms	duration of photoinhibition