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Bayesian Integration and Non-Linear Feedback Control in a Full-Body Motor Task

Figure 4

Control policies.

A) Distributions of the cursor position (left), cursor velocity (center) and center of pressure normalized by the standard deviation (right), averaged across subjects for the low-gain (top row) and high-gain (bottom row) conditions. In the low-gain condition, note the bimodal distribution of the center of pressure, despite the unimodal distribution of errors. This may indicate a bang-bang-like strategy. B) Policy-maps of the center of pressure averaged across subjects as a function of the true cursor position and velocity for two different levels of feedback uncertainty and across all conditions. Note that in the low-gain condition subject's responses saturate at large cursor velocities and positions. In the high-gain condition responses are much more linear.

Figure 4

doi: https://doi.org/10.1371/journal.pcbi.1000629.g004