Figure 5

Center out reaching motions. (a) Center-out trajectories for 12 targets with untrained gains (dotted black line) and tuned gains (solid black line) as well as the trajectory planning path (orange line); The initial central hand position corresponds to case 3 in Figure  6. Also, the hand path speed is given in (b) for the motion to target 3; (c) Real center out reaching motions (right hand) as reported in [54]; d) point-to-point human reaching motion and the corresponding hand path speed as reported in [51].