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An exoskeleton robot was used to record multi-joint reaching movements. Subsequently, joint-torque trajectories were calculated and a gradient descent algorithm found optimal, patient-specific perturbations to actual limb dynamics predicted to reduce directional reaching errors by an average of 41%, elucidating a promising form of robotic intervention and adding support to the internal model hypothesis.<\/jats:p>","DOI":"10.1017\/s0263574714002306","type":"journal-article","created":{"date-parts":[[2014,9,23]],"date-time":"2014-09-23T13:58:25Z","timestamp":1411480705000},"page":"1383-1397","source":"Crossref","is-referenced-by-count":2,"title":["Testing models of cerebellar ataxia via dynamic simulation"],"prefix":"10.1017","volume":"32","author":[{"given":"David","family":"Grow","sequence":"first","affiliation":[]},{"given":"Amy J.","family":"Bastian","sequence":"additional","affiliation":[]},{"given":"Allison M.","family":"Okamura","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,9,23]]},"reference":[{"key":"S0263574714002306_ref19","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050329"},{"key":"S0263574714002306_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/S0165-0270(99)00053-9"},{"key":"S0263574714002306_ref7","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00557.2003"},{"key":"S0263574714002306_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-002-1238-y"},{"key":"S0263574714002306_ref2","volume-title":"The Cerebellum. 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