{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T06:04:52Z","timestamp":1777615492381,"version":"3.51.4"},"reference-count":98,"publisher":"Springer Science and Business Media LLC","issue":"11-12","license":[{"start":{"date-parts":[[2012,11,3]],"date-time":"2012-11-03T00:00:00Z","timestamp":1351900800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biol Cybern"],"published-print":{"date-parts":[[2012,12]]},"DOI":"10.1007\/s00422-012-0527-1","type":"journal-article","created":{"date-parts":[[2012,11,2]],"date-time":"2012-11-02T09:23:36Z","timestamp":1351848216000},"page":"727-739","source":"Crossref","is-referenced-by-count":172,"title":["Dynamic primitives of motor behavior"],"prefix":"10.1007","volume":"106","author":[{"given":"Neville","family":"Hogan","sequence":"first","affiliation":[]},{"given":"Dagmar","family":"Sternad","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2012,11,3]]},"reference":[{"key":"527_CR1","volume-title":"Principles of neurology","author":"RD Adams","year":"1997","unstructured":"Adams RD, Victor M et\u00a0al (1997) Principles of neurology. McGraw-Hill, New York"},{"issue":"6","key":"527_CR2","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1080\/00222895.2010.529332","volume":"42","author":"R Ajemian","year":"2010","unstructured":"Ajemian R, Hogan N (2010) Experimenting with theoretical motor neuroscience. J Mot Behav 42(6): 333\u2013342","journal-title":"J Mot Behav"},{"issue":"9","key":"527_CR3","doi-asserted-by":"crossref","first-page":"2318","DOI":"10.1523\/JNEUROSCI.05-09-02318.1985","volume":"5","author":"CG Atkeson","year":"1985","unstructured":"Atkeson CG, Hollerbach JM (1985) Kinematic features of unrestrained vertical arm movements. J Neurosci 5(9): 2318\u20132330","journal-title":"J Neurosci"},{"key":"527_CR4","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1007\/BF00337116","volume":"54","author":"U B\u00e4ssler","year":"1986","unstructured":"B\u00e4ssler U (1986) On the definition of central pattern generator and its sensory control. Biol Cybern 54: 65\u201369","journal-title":"Biol Cybern"},{"key":"527_CR5","volume-title":"The coordination and regulation of movement","author":"N Bernstein","year":"1967","unstructured":"Bernstein N (1967) The coordination and regulation of movement. Pergamon Press, London"},{"issue":"5","key":"527_CR6","doi-asserted-by":"crossref","first-page":"811","DOI":"10.1037\/0012-1649.32.5.811","volume":"32","author":"N Berthier","year":"1996","unstructured":"Berthier N (1996) Learning to reach: a mathematical model. Dev Psychol 32(5): 811\u2013823","journal-title":"Dev Psychol"},{"key":"527_CR7","doi-asserted-by":"crossref","first-page":"39","DOI":"10.1007\/s004220050543","volume":"81","author":"N Bhushan","year":"1999","unstructured":"Bhushan N, Shadmehr R (1999) Computational nature of human adaptive control during learning of reaching movements in force fields. Biol Cybern 81: 39\u201360","journal-title":"Biol Cybern"},{"issue":"11","key":"527_CR8","doi-asserted-by":"crossref","first-page":"2738","DOI":"10.1523\/JNEUROSCI.04-11-02738.1984","volume":"4","author":"E Bizzi","year":"1984","unstructured":"Bizzi E, Accornero N et\u00a0al (1984) Posture control and trajectory formation during arm movement. J Neurosci 4(11): 2738\u20132744","journal-title":"J Neurosci"},{"key":"527_CR9","doi-asserted-by":"crossref","first-page":"86","DOI":"10.1159\/000156428","volume":"54","author":"C Boesch","year":"1990","unstructured":"Boesch C, Boesch H (1990) Tool use and tool making in wild chimpanzees. Folia Primatologica 54: 86\u201399","journal-title":"Folia Primatologica"},{"issue":"572","key":"527_CR10","doi-asserted-by":"crossref","first-page":"308","DOI":"10.1098\/rspb.1911.0077","volume":"84","author":"TG Brown","year":"1911","unstructured":"Brown TG (1911) The intrinsic factors in the act of progression in the mammal. Proc R Soc Lond Ser B 84(572): 308\u2013319","journal-title":"Proc R Soc Lond Ser B"},{"key":"527_CR11","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1113\/jphysiol.1914.sp001646","volume":"48","author":"TG Brown","year":"1914","unstructured":"Brown TG (1914) On the nature of the fundamental activity of the nervous centers; together with an analysis of the conditioning of rhythmic activity in progression, and a theory of evolution of function in the nervous system. J Physiol 48: 18\u201346","journal-title":"J Physiol"},{"key":"527_CR12","doi-asserted-by":"crossref","first-page":"307","DOI":"10.1007\/s004220050435","volume":"78","author":"E Burdet","year":"1998","unstructured":"Burdet E, Milner TE (1998) Quantization of human motions and learning of accurate movements. Biol Cybern 78: 307\u2013318","journal-title":"Biol Cybern"},{"key":"527_CR13","doi-asserted-by":"crossref","first-page":"446","DOI":"10.1038\/35106566","volume":"414","author":"E Burdet","year":"2001","unstructured":"Burdet E, Osu R et\u00a0al (2001) The central nervous system stabilizes unstable dynamics by learning optimal impedance. Nature 414: 446\u2013449","journal-title":"Nature"},{"issue":"27","key":"527_CR14","doi-asserted-by":"crossref","first-page":"6419","DOI":"10.1523\/JNEUROSCI.4904-04.2005","volume":"25","author":"VC Cheung","year":"2005","unstructured":"Cheung VC, d\u2019Avella A et\u00a0al (2005) Central and sensory contributions to the activation and organization of muscle synergies during natural motor behaviors. J Neurosci 25(27): 6419\u20136434","journal-title":"J Neurosci"},{"issue":"1","key":"527_CR15","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1080\/00207178808906161","volume":"48","author":"JE Colgate","year":"1988","unstructured":"Colgate JE, Hogan N (1988) Robust control of dynamically interacting systems. Int J Control 48(1): 65\u201388","journal-title":"Int J Control"},{"issue":"3","key":"527_CR16","doi-asserted-by":"crossref","first-page":"1301","DOI":"10.1152\/jn.00315.2010","volume":"104","author":"F Crevecoeur","year":"2010","unstructured":"Crevecoeur F, McIntyre J et\u00a0al (2010) Movement stability under uncertain internal models of dynamics. J Neurophysiol 104(3): 1301\u20131313","journal-title":"J Neurophysiol"},{"issue":"30","key":"527_CR17","doi-asserted-by":"crossref","first-page":"7791","DOI":"10.1523\/JNEUROSCI.0830-06.2006","volume":"26","author":"A d\u2019Avella","year":"2006","unstructured":"d\u2019Avella A, Portone A et\u00a0al (2006) Control of fast-reaching movements by muscle synergy combinations. J Neurosci 26(30): 7791\u20137810","journal-title":"J Neurosci"},{"key":"527_CR18","doi-asserted-by":"crossref","unstructured":"d\u2019Avella A, Saltiel P et\u00a0al (2003) Combinations of muscles synergies in the construction of a natural motor behavior. Nat Neurosci 6(3):300\u2013308","DOI":"10.1038\/nn1010"},{"key":"527_CR19","doi-asserted-by":"crossref","first-page":"160","DOI":"10.1016\/j.brainres.2003.09.031","volume":"994","author":"A Rugy de","year":"2003","unstructured":"de Rugy A, Sternad D (2003) Interaction between discrete and rhythmic movements: reaction time and phase of discrete movement initiation during oscillatory movements. Brain Res 994: 160\u2013174","journal-title":"Brain Res"},{"issue":"1","key":"527_CR20","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1016\/S0006-8993(03)02976-7","volume":"982","author":"A Rugy de","year":"2003","unstructured":"de Rugy A, Wei K et\u00a0al (2003) Actively tracking \u201cpassive\u201d stability. Brain Res 982(1): 64\u201378","journal-title":"Brain Res"},{"issue":"4","key":"527_CR21","doi-asserted-by":"crossref","first-page":"319","DOI":"10.1007\/s00422-010-0403-9","volume":"103","author":"S Degallier","year":"2010","unstructured":"Degallier S, Ijspeert A (2010) Modeling discrete and rhythmic movements through motor primitives: a review. Biol Cybern 103(4): 319\u2013338","journal-title":"Biol Cybern"},{"issue":"3","key":"527_CR22","first-page":"319","volume":"11","author":"TMH Dijkstra","year":"2004","unstructured":"Dijkstra TMH, Katsumata H et\u00a0al (2004) The dialogue between data and model: Passive stability and relaxation behavior in a ball bouncing task. Nonlinear Studies 11(3): 319\u2013344","journal-title":"Nonlinear Studies"},{"key":"527_CR23","doi-asserted-by":"crossref","first-page":"757","DOI":"10.1152\/jn.01295.2006","volume":"98","author":"L Dipietro","year":"2007","unstructured":"Dipietro L, Krebs HI et\u00a0al (2007) Changing motor synergies in chronic stroke. J Neurophysiol 98: 757\u2013768","journal-title":"J Neurophysiol"},{"issue":"1","key":"527_CR24","doi-asserted-by":"crossref","first-page":"48","DOI":"10.1109\/TNSRE.2011.2175008","volume":"20","author":"L Dipietro","year":"2012","unstructured":"Dipietro L, Krebs HI et\u00a0al (2012) Learning, not adaptation, characterizes stroke motor recovery: evidence from kinematic changes induced by robot-assisted therapy in trained and untrained task in the same workspace. IEEE Trans Neural Syst Rehab Eng 20(1): 48\u201357","journal-title":"IEEE Trans Neural Syst Rehab Eng"},{"issue":"6058","key":"527_CR25","doi-asserted-by":"crossref","first-page":"997","DOI":"10.1126\/science.1210617","volume":"334","author":"N Dominici","year":"2011","unstructured":"Dominici N, Ivanenko YP et\u00a0al (2011) Locomotor primitives in newborn babies and their development. Science 334(6058): 997\u2013999","journal-title":"Science"},{"issue":"3","key":"527_CR26","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1037\/0033-2909.127.3.342","volume":"127","author":"D Elliott","year":"2001","unstructured":"Elliott D, Helsen WF et\u00a0al (2001) A century later: Woodworth\u2019s (1899) two-component model of goal-directed aiming. Psychol Bull 127(3): 342\u2013357","journal-title":"Psychol Bull"},{"key":"527_CR27","first-page":"565","volume":"11","author":"AG Feldman","year":"1966","unstructured":"Feldman AG (1966) Functional tuning of the nervous system with control of movement or maintenance of a steady posture. II. Controllable parameters of the muscle. Biophysics 11: 565\u2013578","journal-title":"Biophysics"},{"key":"527_CR28","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1080\/00222895.1986.10735369","volume":"18","author":"AG Feldman","year":"1986","unstructured":"Feldman AG (1986) Once more on the equilibirium hypothesis (lambda model) for motor control. J Motor Behav 18: 17\u201354","journal-title":"J Motor Behav"},{"key":"527_CR29","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1007\/s00221-004-2049-0","volume":"161","author":"AG Feldman","year":"2005","unstructured":"Feldman AG, Latash ML (2005) Testing hypotheses and the advancement of science: recent attempts to falsify the equilibrium point hypothesis. Exp Brain Res 161: 91\u2013103","journal-title":"Exp Brain Res"},{"key":"527_CR30","doi-asserted-by":"crossref","first-page":"445","DOI":"10.1016\/S0006-3495(61)86902-6","volume":"1","author":"R Fitzhugh","year":"1961","unstructured":"Fitzhugh R (1961) Impulses and physiological states in theoretical models of nerve membrane. Biophys J 1: 445\u2013466","journal-title":"Biophys J"},{"issue":"3","key":"527_CR31","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1162\/jocn.1991.3.3.220","volume":"3","author":"T Flash","year":"1991","unstructured":"Flash T, Henis E (1991) Arm trajectory modifications during reaching towards visual targets. J Cognitive Neurosci 3(3): 220\u2013230","journal-title":"J Cognitive Neurosci"},{"issue":"6","key":"527_CR32","doi-asserted-by":"crossref","first-page":"660","DOI":"10.1016\/j.conb.2005.10.011","volume":"15","author":"T Flash","year":"2005","unstructured":"Flash T, Hochner B (2005) Motor primitives in vertebrates and invertebrates. Curr Opin Neurobiol 15(6): 660\u2013666","journal-title":"Curr Opin Neurobiol"},{"key":"527_CR33","doi-asserted-by":"crossref","first-page":"7705","DOI":"10.1523\/JNEUROSCI.0968-07.2007","volume":"27","author":"DW Franklin","year":"2007","unstructured":"Franklin DW, Liaw G et\u00a0al (2007) Endpoint stiffness of the arm is directionally tuned to instability in the environment. J Neurosci 27: 7705\u20137716","journal-title":"J Neurosci"},{"key":"527_CR34","volume-title":"The organization of action: A new synthesis","author":"CR Gallistel","year":"1980","unstructured":"Gallistel CR (1980) The organization of action: A new synthesis. Lawrence Erlbaum, Hillsdale, NJ"},{"key":"527_CR35","unstructured":"Goldstein H (1980) Classical mechanics. Addison-Wesley"},{"key":"527_CR36","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1126\/science.272.5258.117","volume":"272","author":"H Gomi","year":"1996","unstructured":"Gomi H, Kawato M (1996) Equilibrium-point control hypothesis examined by measured arm stiffness during multijoint movement. Science 272: 117\u2013220","journal-title":"Science"},{"key":"527_CR37","doi-asserted-by":"crossref","first-page":"1409","DOI":"10.1152\/jn.1998.79.3.1409","volume":"79","author":"P Gribble","year":"1998","unstructured":"Gribble P, Ostry DJ et\u00a0al (1998) Are complex control signals required for human arm movement?. J Neurophysiol 79: 1409\u20131424","journal-title":"J Neurophysiol"},{"issue":"1","key":"527_CR38","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1146\/annurev.ne.08.030185.001313","volume":"8","author":"S Grillner","year":"1985","unstructured":"Grillner S, Wallen P (1985) Central pattern generators for locomotion, with special reference to vertebrates. Annu Rev Neurosci 8(1): 233\u2013261","journal-title":"Annu Rev Neurosci"},{"key":"527_CR39","volume-title":"Human control of dynamically complex objects. International Conference on Biomedical Robotics and Biomechatronics (BIOROB 2012)","author":"CJ Hasson","year":"2012","unstructured":"Hasson CJ, Hogan N et\u00a0al (2012a) Human control of dynamically complex objects. International Conference on Biomedical Robotics and Biomechatronics (BIOROB 2012). IEEE RAS\/EMBS, Rome, Italy"},{"key":"527_CR40","doi-asserted-by":"crossref","unstructured":"Hasson CJ, Shen T et\u00a0al (2012b) Energy margins in dynamic object manipulation. J Neurophysiol (in revision)","DOI":"10.1152\/jn.00019.2012"},{"issue":"1","key":"527_CR41","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1109\/5326.827459","volume":"30","author":"AJ Hodgson","year":"2000","unstructured":"Hodgson AJ, Hogan N (2000) A model-independent definition of attractor behavior applicable to interactive tasks. IEEE Trans Syst Man Cybern Part C-Appl Rev 30(1): 105\u2013118","journal-title":"IEEE Trans Syst Man Cybern Part C-Appl Rev"},{"issue":"2","key":"527_CR42","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1152\/jn.1981.45.2.267","volume":"45","author":"JA Hoffer","year":"1981","unstructured":"Hoffer JA, Andreassen S (1981) Regulation of soleus muscle stiffness in premammillary cats: intrinsic and reflex components. J Neurophysiol 45(2): 267\u2013285","journal-title":"J Neurophysiol"},{"key":"527_CR43","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.3140702","volume":"107","author":"N Hogan","year":"1985","unstructured":"Hogan N (1985) Impedance control: an approach to manipulation. ASME J Dyn Syst Meas Control 107: 1\u201324","journal-title":"ASME J Dyn Syst Meas Control"},{"issue":"6","key":"527_CR44","doi-asserted-by":"crossref","first-page":"677","DOI":"10.1109\/56.9305","volume":"4","author":"N Hogan","year":"1988","unstructured":"Hogan N (1988) On the stability of manipulators performing contact tasks. IEEE J Robotics Autom 4(6): 677\u2013686","journal-title":"IEEE J Robotics Autom"},{"key":"527_CR45","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1007\/978-1-4613-9030-5_9","volume-title":"Mechanical impedance of single\u2014and multi-articular systems. Multiple muscle systems: Biomechanics and movement organization. J. Winters and S. Woo","author":"N Hogan","year":"1990","unstructured":"Hogan N (1990) Mechanical impedance of single\u2014and multi-articular systems. Multiple muscle systems: Biomechanics and movement organization. J. Winters and S. Woo. Springer-Verlag, New York, pp 149\u2013164"},{"key":"527_CR46","doi-asserted-by":"crossref","unstructured":"Hogan N, Buerger SP (2004) Impedance and interaction control. In: Kurfess TR (ed) Robotics and automation handbook. CRC Press, 19\u201311 to 19\u201324","DOI":"10.1201\/9781420039733.ch19"},{"key":"527_CR47","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1007\/s00221-007-0899-y","volume":"181","author":"N Hogan","year":"2007","unstructured":"Hogan N, Sternad D (2007) On rhythmic and discrete movements: reflections, definitions and implications for motor control. Exp Brain Res 181: 13\u201330","journal-title":"Exp Brain Res"},{"key":"527_CR48","doi-asserted-by":"crossref","first-page":"249","DOI":"10.1038\/379249a0","volume":"379","author":"GR Hunt","year":"1996","unstructured":"Hunt GR (1996) Manufacture and use of hook-tools by New Caledonian crows. Nature 379: 249\u2013251","journal-title":"Nature"},{"issue":"41","key":"527_CR49","doi-asserted-by":"crossref","first-page":"11149","DOI":"10.1523\/JNEUROSCI.2644-07.2007","volume":"27","author":"YP Ivanenko","year":"2007","unstructured":"Ivanenko YP, Cappellini G et\u00a0al (2007) Modular control of limb movements during human locomotion. J Neurosci 27(41): 11149\u2013 11161","journal-title":"J Neurosci"},{"issue":"5","key":"527_CR50","doi-asserted-by":"crossref","first-page":"817","DOI":"10.1109\/JPROC.2003.811795","volume":"91","author":"DH Johnson","year":"2003","unstructured":"Johnson DH (2003) Origins of the equivalent circuit concept: the current-source equivalent. Proc IEEE 91(5): 817\u2013821","journal-title":"Proc IEEE"},{"issue":"4","key":"527_CR51","doi-asserted-by":"crossref","first-page":"636","DOI":"10.1109\/JPROC.2003.811716","volume":"91","author":"DH Johnson","year":"2003","unstructured":"Johnson DH (2003) Origins of the equivalent circuit concept: the voltage-source equivalent. Proc IEEE 91(4): 636\u2013640","journal-title":"Proc IEEE"},{"issue":"2","key":"527_CR52","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1016\/j.tics.2003.12.002","volume":"8","author":"SH Johnson-Frey","year":"2004","unstructured":"Johnson-Frey SH (2004) The neural basis of complex tool use in humans. Trends Cognitive Sci 8(2): 71\u201378","journal-title":"Trends Cognitive Sci"},{"key":"527_CR53","unstructured":"Kandel, ER, Schwartz, JH (eds) et\u00a0al (2000) Principles of neural science. McGraw-Hill, New York"},{"issue":"10","key":"527_CR54","doi-asserted-by":"crossref","first-page":"2409","DOI":"10.1523\/JNEUROSCI.3229-07.2008","volume":"28","author":"WJ Kargo","year":"2008","unstructured":"Kargo WJ, Giszter SF (2008) Individual premotor drive pulses, not time-varying synergies, are the units of adjustment for limb trajectories constructed in spinal cord. J Neurosci 28(10): 2409\u20132425","journal-title":"J Neurosci"},{"key":"527_CR55","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1007\/s00221-002-1331-2","volume":"149","author":"H Katsumata","year":"2003","unstructured":"Katsumata H, Zatsiorsky V et\u00a0al (2003) Control of ball-racket interactions in the rhythmic propulsion of elastic and non-elastic balls. Exp Brain Res 149: 17\u201329","journal-title":"Exp Brain Res"},{"key":"527_CR56","doi-asserted-by":"crossref","unstructured":"Kenward B, Weir AAS et\u00a0al (2005) Behavioral ecology: tool manufacture by na\u00efve juvenile crows. Nature 433(121)","DOI":"10.1038\/433121a"},{"issue":"8","key":"527_CR57","doi-asserted-by":"crossref","first-page":"4645","DOI":"10.1073\/pnas.96.8.4645","volume":"96","author":"HI Krebs","year":"1999","unstructured":"Krebs HI, Aisen ML et\u00a0al (1999) Quantization of continuous arm movements in humans with brain injury. Proc Natl Acad Sci USA 96(8): 4645\u20134649","journal-title":"Proc Natl Acad Sci USA"},{"issue":"1","key":"527_CR58","doi-asserted-by":"crossref","first-page":"299","DOI":"10.1152\/jn.1994.72.1.299","volume":"72","author":"JR Lackner","year":"1994","unstructured":"Lackner JR, Dizio P (1994) Rapid adaptation to coriolis force perturbations of arm trajectory. J Neurophysiol 72(1): 299\u2013313","journal-title":"J Neurophysiol"},{"issue":"4","key":"527_CR59","doi-asserted-by":"crossref","first-page":"1496","DOI":"10.1152\/jn.1994.72.4.1496","volume":"72","author":"F Lacquaniti","year":"1994","unstructured":"Lacquaniti F, Maioli C (1994) Coordinate transformations in the control of cat posture. J Neurophysiol 72(4): 1496\u20131515","journal-title":"J Neurophysiol"},{"key":"527_CR60","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1016\/0306-4522(92)90089-K","volume":"49","author":"ML Latash","year":"1992","unstructured":"Latash ML (1992) Virtual trajectories, joint stiffness, and changes in natural frequency during single-joint oscillatory movements. Neuroscience 49: 209\u2013220","journal-title":"Neuroscience"},{"key":"527_CR61","doi-asserted-by":"crossref","DOI":"10.1093\/acprof:oso\/9780195333169.001.0001","volume-title":"Synergy","author":"ML Latash","year":"2008","unstructured":"Latash ML (2008) Synergy. Oxford University Press, Oxford"},{"issue":"2","key":"527_CR62","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1016\/0306-4522(92)90252-W","volume":"47","author":"ML Latash","year":"1992","unstructured":"Latash ML, Gottlieb GL (1992) Virtual trajectories of single-joint movements performed under two basic strategies. Neuroscience 47(2): 357\u2013365","journal-title":"Neuroscience"},{"key":"527_CR63","first-page":"1393","volume":"17","author":"GE Loeb","year":"1995","unstructured":"Loeb GE (1995) Control implications of musculoskeletal mechanics. Annu Int Conf IEE-EMBS 17: 1393\u20131394","journal-title":"Annu Int Conf IEE-EMBS"},{"key":"527_CR64","volume-title":"Vision: A computational approach","author":"D Marr","year":"1982","unstructured":"Marr D (1982) Vision: A computational approach. Freeman & Company, San Francisco"},{"key":"527_CR65","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1007\/BF00449593","volume":"52","author":"K Matsuoka","year":"1985","unstructured":"Matsuoka K (1985) Sustained oscillations generated by mutually inhibiting neurons with adaptation. Biol Cybern 52: 367\u2013376","journal-title":"Biol Cybern"},{"key":"527_CR66","doi-asserted-by":"crossref","DOI":"10.1515\/9780691221540","volume-title":"Muscles, reflexes, and locomotion","author":"TA McMahon","year":"1984","unstructured":"McMahon TA (1984) Muscles, reflexes, and locomotion. Princeton University Press, New Jersey"},{"key":"527_CR67","doi-asserted-by":"crossref","unstructured":"Meyer DE, Abrams RA et\u00a0al (1988) Optimality in human motor performance: ideal control of rapid aimed movements. Psychol Rev 95(3):340\u2013370","DOI":"10.1037\/0033-295X.95.3.340"},{"issue":"5","key":"527_CR68","doi-asserted-by":"crossref","first-page":"481","DOI":"10.1177\/027836499101000504","volume":"10","author":"FA Mussa-Ivaldi","year":"1991","unstructured":"Mussa-Ivaldi FA, Hogan N (1991) Integrable solutions of kinematic redundancy via impedance control. Int J Robotics Res 10(5): 481\u2013491","journal-title":"Int J Robotics Res"},{"key":"527_CR69","doi-asserted-by":"crossref","first-page":"2061","DOI":"10.1109\/JRPROC.1962.288235","volume":"60","author":"J Nagumo","year":"1962","unstructured":"Nagumo J, Arimoto S et\u00a0al (1962) An active pulse transmission line simulating nerve axon. Proc IRE 60: 2061\u20132070","journal-title":"Proc IRE"},{"key":"527_CR70","doi-asserted-by":"crossref","unstructured":"Nichols TR, Houk JC (1976) Improvement in linearity and regulation of stiffness that results from actions of stretch reflex. J Neurophysiol 39:119\u2013142","DOI":"10.1152\/jn.1976.39.1.119"},{"key":"527_CR71","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1007\/s002219900250","volume":"130","author":"A Prochazka","year":"2000","unstructured":"Prochazka A, Clarac F et\u00a0al (2000) What do reflex and voluntary mean? Modern views on an ancient debate. Exp Brain Res 130: 417\u2013432","journal-title":"Exp Brain Res"},{"key":"527_CR72","doi-asserted-by":"crossref","first-page":"1213","DOI":"10.1103\/RevModPhys.78.1213","volume":"78","author":"MI Rabinovich","year":"2006","unstructured":"Rabinovich MI, Varona P et\u00a0al (2006) Dynamical principles in neuroscience. Rev Modern Phys 78: 1213\u20131265","journal-title":"Rev Modern Phys"},{"issue":"1","key":"527_CR73","doi-asserted-by":"crossref","first-page":"205","DOI":"10.1162\/neco.2008.20.1.205","volume":"20","author":"A Raftery","year":"2008","unstructured":"Raftery A, Cusumano JP et\u00a0al (2008) Chaotic frequency scaling in a coupled oscillator model for free rhythmic actions. Neural Comput 20(1): 205\u2013226","journal-title":"Neural Comput"},{"issue":"4","key":"527_CR74","doi-asserted-by":"crossref","first-page":"472","DOI":"10.1123\/mcj.8.4.472","volume":"8","author":"B Rohrer","year":"2004","unstructured":"Rohrer B, Fasoli S et\u00a0al (2004) Submovements grow larger, fewer, and more blended during stroke recovery. Mot Control 8(4): 472\u2013483","journal-title":"Mot Control"},{"key":"527_CR75","doi-asserted-by":"crossref","first-page":"1335","DOI":"10.1162\/neco.2008.03-08-720","volume":"21","author":"R Ronsse","year":"2009","unstructured":"Ronsse R, Sternad D et\u00a0al (2009) A computational model for rhythmic and discrete movements in uni- and bimanual coordination. Neural Comput 21: 1335\u20131370","journal-title":"Neural Comput"},{"key":"527_CR76","unstructured":"Russell DL (1990) An analysis of constrained motions in manipulation Ph.D., M.I.T."},{"issue":"1","key":"527_CR77","doi-asserted-by":"crossref","first-page":"e89","DOI":"10.1542\/peds.111.1.e89","volume":"111","author":"TD Sanger","year":"2003","unstructured":"Sanger TD, Delgado MR et\u00a0al (2003) Classification and definition of disorders causing hypertonia in childhood. Pediatrics 111(1): e89\u2013e97","journal-title":"Pediatrics"},{"key":"527_CR78","unstructured":"Schaal S, Kotosaka S et\u00a0al (2000) Nonlinear dynamical systems as movement primitives. Proceedings of the 1st IEEE-RAS International Conference on Humanoid Robotics (Humanoids 2000), Cambridge, MA"},{"issue":"10","key":"527_CR79","doi-asserted-by":"crossref","first-page":"1136","DOI":"10.1038\/nn1322","volume":"7","author":"S Schaal","year":"2004","unstructured":"Schaal S, Sternad D et\u00a0al (2004) Rhythmic arm movement is not discrete. Nat Neurosci 7(10): 1136\u20131143","journal-title":"Nat Neurosci"},{"issue":"5","key":"527_CR80","doi-asserted-by":"crossref","first-page":"3208","DOI":"10.1523\/JNEUROSCI.14-05-03208.1994","volume":"14","author":"R Shadmehr","year":"1994","unstructured":"Shadmehr R, Mussa-Ivaldi FA (1994) Adaptive representation of dynamics during learning of a motor task. J Neurosci 14(5): 3208\u20133224","journal-title":"J Neurosci"},{"key":"527_CR81","volume-title":"The integrative action of the nervous system","author":"CS Sherrington","year":"1906","unstructured":"Sherrington CS (1906) The integrative action of the nervous system. Yale University Press, New Haven, CT"},{"key":"527_CR82","doi-asserted-by":"crossref","unstructured":"Siegler IA, Bardy B et\u00a0al (2010) Passive vs. active control of rhythmic ball bouncing: The role of visual information. J Exp Psychol Hum Percept Perf 36(3):729\u2013750","DOI":"10.1037\/a0016462"},{"issue":"4","key":"527_CR83","doi-asserted-by":"crossref","first-page":"575","DOI":"10.1016\/j.neuron.2009.10.001","volume":"64","author":"GC Sing","year":"2009","unstructured":"Sing GC, Joiner WM et\u00a0al (2009) Primitives for motor adaptation reflect correlated neural tuning to position and velocity. Neuron 64(4): 575\u2013589","journal-title":"Neuron"},{"issue":"7","key":"527_CR84","doi-asserted-by":"crossref","first-page":"733","DOI":"10.1139\/y81-110","volume":"59","author":"AM Smith","year":"1981","unstructured":"Smith AM (1981) The coactivation of antagonist muscles. Can J Physiol Pharmacol 59(7): 733\u2013747","journal-title":"Can J Physiol Pharmacol"},{"key":"527_CR85","doi-asserted-by":"crossref","first-page":"565","DOI":"10.1016\/j.conb.2008.11.006","volume":"18","author":"JF Soechting","year":"2008","unstructured":"Soechting JF, Flanders M (2008) Sensorimotor control of contact force. Curr Opin Neurobiol 18: 565\u2013572","journal-title":"Curr Opin Neurobiol"},{"key":"527_CR86","first-page":"105","volume-title":"Towards a unified framework for rhythmic and discrete movements: behavioral, modeling and imaging results. In: Fuchs A, Jirsa V (eds) Coordination: neural, behavioral and social dynamics. Jirsa","author":"D Sternad","year":"2008","unstructured":"Sternad D (2008) Towards a unified framework for rhythmic and discrete movements: behavioral, modeling and imaging results. In: Fuchs A, Jirsa V (eds) Coordination: neural, behavioral and social dynamics. Jirsa. Springer, New York, pp, pp 105\u2013136"},{"key":"527_CR87","doi-asserted-by":"crossref","first-page":"627","DOI":"10.1016\/S0167-9457(00)00028-2","volume":"19","author":"D Sternad","year":"2000","unstructured":"Sternad D, Dean WJ et\u00a0al (2000a) Interaction of rhythmic and discrete pattern generators in single-joint movements. Hum Mov Sci 19: 627\u2013664","journal-title":"Hum Mov Sci"},{"key":"527_CR88","doi-asserted-by":"crossref","first-page":"011902-011901","DOI":"10.1103\/PhysRevE.63.011902","volume":"63","author":"D Sternad","year":"2000","unstructured":"Sternad D, Duarte M et\u00a0al (2000b) Dynamics of a bouncing ball in human performance. Phys Rev E 63: 011902-011901\u2013011902-011908","journal-title":"Phys Rev E"},{"issue":"5","key":"527_CR89","doi-asserted-by":"crossref","first-page":"1163","DOI":"10.1037\/0096-1523.27.5.1163","volume":"27","author":"D Sternad","year":"2001","unstructured":"Sternad D, Duarte M et\u00a0al (2001) Bouncing a ball: tuning into dynamic stability. J Exp Psychol Hum Percept Perform 27(5): 1163\u20131184","journal-title":"J Exp Psychol Hum Percept Perform"},{"key":"527_CR90","volume-title":"Wave generation and shaping","author":"L Strauss","year":"1970","unstructured":"Strauss L (1970) Wave generation and shaping. McGraw-Hill, New York"},{"key":"527_CR91","volume-title":"Nonlinear dynamics and chaos: with applications to physics, biology, chemistry, and engineering","author":"SH Strogatz","year":"1994","unstructured":"Strogatz SH (1994) Nonlinear dynamics and chaos: with applications to physics, biology, chemistry, and engineering. Addison-Wesley, Reading, MA"},{"key":"527_CR92","doi-asserted-by":"crossref","first-page":"742","DOI":"10.1038\/35037588","volume":"407","author":"KA Thoroughman","year":"2000","unstructured":"Thoroughman KA, Shadmehr R (2000) Learning of action through adaptive combination of motor primitives. Nature 407: 742\u2013747","journal-title":"Nature"},{"key":"527_CR93","doi-asserted-by":"crossref","first-page":"3040","DOI":"10.1152\/jn.00271.2003","volume":"90","author":"D Toffin","year":"2003","unstructured":"Toffin D, McIntyre J. et\u00a0al (2003) Perception and reproduction of force direction in the horizontal plane. J Neurophysiol 90: 3040\u20133053","journal-title":"J Neurophysiol"},{"key":"527_CR94","first-page":"253","volume-title":"The Bernstein perspective: II. The concept of muscle linkage or coordinative structure. In: Kelso JAS (ed) Human motor behavior","author":"B Tuller","year":"1982","unstructured":"Tuller B, Turvey MT et\u00a0al (1982) The Bernstein perspective: II. The concept of muscle linkage or coordinative structure. In: Kelso JAS (ed) Human motor behavior. Erlbaum, Hillsdale, NJ, pp 253\u2013270"},{"key":"527_CR95","doi-asserted-by":"crossref","unstructured":"von Hofsten C (1991) Structuring of early reaching movemnets: a longitudinal study. J Mot Behav 23(4):280\u2013292","DOI":"10.1080\/00222895.1991.9942039"},{"key":"527_CR96","doi-asserted-by":"crossref","first-page":"3027","DOI":"10.1152\/jn.01367.2007","volume":"99","author":"K Wei","year":"2008","unstructured":"Wei K, Dijkstra TMH et\u00a0al (2008) Stability and variability: indicators for passive stability and active control in a rhythmic task. J Neurophysiol 99: 3027\u20133041","journal-title":"J Neurophysiol"},{"issue":"1","key":"527_CR97","first-page":"125","volume":"107","author":"J Won","year":"1995","unstructured":"Won J, Hogan N (1995) Stability properties of human reaching movements. Exp Brain Res 107(1): 125\u2013136","journal-title":"Exp Brain Res"},{"issue":"3","key":"527_CR98","first-page":"1","volume":"3","author":"RS Woodworth","year":"1899","unstructured":"Woodworth RS (1899) The accuracy of voluntary movement. Psychol Rev Monogr Suppl 3(3): 1\u2013119","journal-title":"Psychol Rev Monogr Suppl"}],"container-title":["Biological Cybernetics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-012-0527-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00422-012-0527-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00422-012-0527-1","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,30]],"date-time":"2022-01-30T20:12:55Z","timestamp":1643573575000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00422-012-0527-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,11,3]]},"references-count":98,"journal-issue":{"issue":"11-12","published-print":{"date-parts":[[2012,12]]}},"alternative-id":["527"],"URL":"https:\/\/doi.org\/10.1007\/s00422-012-0527-1","relation":{},"ISSN":["0340-1200","1432-0770"],"issn-type":[{"value":"0340-1200","type":"print"},{"value":"1432-0770","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,11,3]]}}}