Table 3. Optimal feedforward controls for tasks with different precision and difficulty.

Bold font indicate the tasks for which co-contraction was optimal without requiring maximum activation. A dash indicates that the desired task precision was not achieved, meaning that the constraint on the root mean square (RMS) deviation was not met.

Required precision (deg)	Maximum perturbation amplitude (Nm)
	75	100	125	150
2	0.010	0.056	–	–
3	0.010	0.010	0.084	–
4	0.010	0.010	0.046	0.210
5	0.010	0.010	0.017	0.133