Figure 2
From: An adaptive spinal-like controller: tunable biomimetic behavior for a robotic limb
Spinal-like motor circuit. Proprioceptive stimuli from spindles produce sensory signals that innervate interneurons (IN) or motoneurons (Mn) directly. Interneurons provide inhibitory and excitatory pathways to both antagonist/agonist Mn and IN while Renshaw Cells (RC) provide an efference copy to the circuit. The spinal-like circuit demonstrates cross-connections and symmetry while activating antagonist Mn groups.