Hierarchical motor adaptations negotiate failures during force field learning
Fig 6
Hierarchical motor adaptation model.
(A) Schematic diagram of the model. The model consists of two adaptation components: the kinematic plan adaptation (magenta box) as a higher component, driven by TE, and the internal model adaptation (light blue box) as a lower component, driven by SPE. In the presence of failure (i.e., TE > target size), the kinematic plan adaptation process becomes active and modifies the planned direction of the hand motion. When the task is successful, the planned direction slowly decays to the original movement direction. (B) The planned direction of the hand motion is implemented as a directional bias (magenta arrow) in the hierarchical OFC model and a desired trajectory (magenta line) in the hierarchical VS model (see Methods for details).