Table 2. Overview of the experiments.

Parameters used in each of the experiments to investigate if co-contraction minimizes effort, and how this optimality related to time delay.

Experiment	Precision	Difficulty	Neural time delay	Activation time constant
Effort landscape	5 deg	100 Nm	10 ms	10 ms
Varying precision and difficulty	2, 3, 4, 5 deg	75, 100, 125, 150 Nm	0 ms	10 ms
Neural time delay	5 deg	100 Nm	5, 10, 15, 20, 25 ms	10 ms
Activation time	5 deg	100 Nm	0 ms	10, 30, 50, 70, 90 ms