Figure 10From: An adaptive spinal-like controller: tunable biomimetic behavior for a robotic limb Scaling of trajectory speed with reach amplitude and durations. (a) increasing initial target distance in the same direction causes similar reach durations but larger hand path speed - the parameter set is fixed with Ks/Ke = 15/1. The numbered trajectory paths in part (a) are matched with their hand path speed in part (b). In (c) and (d), we maintain a constant initial error vector while multiplying Ks and Ke by the same factor (preserve ratio); e.g., in (d) the solid black line’s Ks/Ke ratio is 15/1 (case 4 in (b)), the dashed line is 7.5/0.5, the dotted line is 30/2, and the dash-dotted line is 60/4. All four conditions have identical spatial trajectories (c), despite increases in path speed and concurrent decreases in reach duration (d).Back to article page