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Risk-Sensitive Optimal Feedback Control Accounts for Sensorimotor Behavior under Uncertainty

Figure 7

Simulations of an optimal controller with incomplete state observation and sensorimotor delay.

A.–C. Changes in motor command with position for a fixed velocity () for the low noise level (green) and for the high noise level (red). D.–F. Contribution of control cost to total cost (control cost+error cost). A. & D. - Predictions of a risk-neutral controller. B. & E. - Predictions of a risk-averse controller. C. & F. - Predictions of a risk-preferring controller.

doi: https://doi.org/10.1371/journal.pcbi.1000857.g007