Table 1.

Parameter definitions

Parameter	Symbol	Value or range
Position along the x-axis relative a zero-point at the far left	x	−inf to inf
Damping	D	2.0
Muscle length	L	0 to 1
Muscle activation	A	0 to 1
Neuronal activation (membrane potential). Superscript plus denotes the positive part of the range.	P	−1 to 1
Sign matrix denoting excitatory or inhibitory synapses	S	+1 or −1
Synaptic weight. Superscript plus denotes the positive part of the range, which is the functional part of the range.	w	−1 to 1
Learning signal	l	−1 to 1
Compensation factor	c	0 to 1
Learning rate	η	0 to 0.001
Kalman gain for activity	K A	0.3
Kalman gain for learning signal	K L	0.001
Kalman gain for mean activity	K M	4.0e-5
Kalman gain for cutaneous sensor	K C	0.054
Filter function for synaptic activity. High-pass (0.05 Hz threshold) for EPSP and low-pass (0.2 Hz threshold) for IPSP.	φL	Function
One-dimensional Kalman filter	φK	Function
Decay function with decay constant of 0.985	φτ	Function
Initial scalar for controlling decay of force during collision	τ	3.0