%PDF-1.6
%
1 0 obj
<>
endobj
2 0 obj
<>stream
James N. Ingram, Mohsen Sadeghi, J. Randall Flanagan, Daniel M. Wolpert
An error-tuned model for sensorimotor learning
www.ploscompbiol.org
www.ploscompbiol.org
endstream
endobj
3 0 obj
<>/XObject<>>>/CropBox[0 0 612 792]/MediaBox[0 0 612 792]/Parent 11 0 R/Annots 12 0 R/Contents 13 0 R/TrimBox[0 0 612 792]>>
endobj
12 0 obj
[14 0 R 15 0 R 16 0 R 17 0 R 18 0 R 19 0 R 20 0 R 21 0 R 22 0 R 23 0 R 24 0 R 25 0 R 26 0 R 27 0 R 28 0 R 29 0 R 30 0 R 31 0 R 32 0 R 33 0 R 34 0 R]
endobj
14 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref001)>>
endobj
15 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref006)>>
endobj
16 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref001)>>
endobj
17 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref007)>>
endobj
18 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref009)>>
endobj
19 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref010)>>
endobj
20 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref013)>>
endobj
21 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref014)>>
endobj
22 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref019)>>
endobj
23 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref020)>>
endobj
24 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref001)>>
endobj
25 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref021)>>
endobj
26 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref022)>>
endobj
27 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref024)>>
endobj
28 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref025)>>
endobj
29 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref010)>>
endobj
30 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref026)>>
endobj
31 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref028)>>
endobj
32 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref027)>>
endobj
33 0 obj
<>/Border[0 0 0]/Dest(Rpcbi.1005883.ref029)>>
endobj
34 0 obj
<>/Border[0 0 0]/A 35 0 R>>
endobj
35 0 obj
<>
endobj
13 0 obj
[36 0 R 37 0 R 38 0 R 39 0 R 40 0 R 41 0 R 42 0 R 43 0 R 44 0 R 45 0 R 46 0 R 47 0 R 48 0 R 49 0 R 50 0 R 51 0 R 52 0 R 53 0 R 54 0 R]
endobj
36 0 obj
<>stream
q
0.955 g
0 w
199.9998 713.9999 m
575.9997 713.9999 l
575.9997 572.0003 l
199.9998 572.0003 l
f*
0.83 0.64 0.02 0 k
542.211 497.9339 m
546.9732 497.9339 l
h
f*
552.1323 497.9339 m
556.8945 497.9339 l
h
f*
510.9165 484.8945 m
515.6787 484.8945 l
h
f*
517.8898 484.8945 m
522.652 484.8945 l
h
f*
527.8677 484.8945 m
532.5732 484.8945 l
h
f*
246.0472 471.9118 m
255.5717 471.9118 l
h
f*
260.7307 471.9118 m
270.2551 471.9118 l
h
f*
362.778 471.9118 m
372.3024 471.9118 l
h
f*
377.4614 471.9118 m
386.9858 471.9118 l
h
f*
263.3953 432.9071 m
272.9197 432.9071 l
h
f*
203.4142 406.9417 m
208.1764 406.9417 l
h
f*
298.9984 367.937 m
308.5228 367.937 l
h
f*
312.9449 367.937 m
322.4693 367.937 l
h
f*
327.6283 367.937 m
337.1528 367.937 l
h
f*
295.3134 315.9496 m
304.8378 315.9496 l
h
f*
506.778 289.9276 m
516.3024 289.9276 l
h
f*
518.5701 289.9276 m
528.0378 289.9276 l
h
f*
533.2535 289.9276 m
542.7213 289.9276 l
h
f*
546.5197 276.9449 m
555.9874 276.9449 l
h
f*
558.2551 276.9449 m
567.7795 276.9449 l
h
f*
0 g
1 j
1 J
10 0 0 10 209.9905 696.9826 cm
BT
/F5 1 Tf
1 TL
-0.004 Tc
0 0 Td
(information.)Tj
5.3007 0 Td
(First,)Tj
2.2734 0 Td
(contextual)Tj
4.3936 0 Td
(information)Tj
5.074 0 Td
(from)Tj
2.2054 0 Td
(vision)Tj
2.6248 0 Td
(\(for)Tj
1.7292 0 Td
(example\))Tj
3.8891 0 Td
(is)Tj
0.8447 0 Td
(available)Tj
3.668 0 Td
(before)Tj
-32.0029 -1.2982 Td
(we)Tj
1.3266 0 Td
(perform)Tj
3.5206 0 Td
(the)Tj
1.4683 0 Td
(task.)Tj
2.0353 0 Td
(Second,)Tj
3.3505 0 Td
(movement)Tj
4.5184 0 Td
(errors)Tj
2.6249 0 Td
(are)Tj
1.4456 0 Td
(available)Tj
3.668 0 Td
(as)Tj
1.0148 0 Td
(we)Tj
1.3266 0 Td
(begin)Tj
2.4321 0 Td
(to)Tj
1.0262 0 Td
(perform)Tj
3.5149 0 Td
(the)Tj
-33.2728 -1.2983 Td
(task.)Tj
2.0352 0 Td
(Here)Tj
2.2054 0 Td
(we)Tj
1.3266 0 Td
(present)Tj
3.1634 0 Td
(a)Tj
0.6576 0 Td
(model)Tj
2.744 0 Td
(that)Tj
1.7801 0 Td
(provides)Tj
3.6453 0 Td
(a)Tj
0.6577 0 Td
(mechanism)Tj
4.8415 0 Td
(by)Tj
1.1849 0 Td
(which)Tj
2.6475 0 Td
(these)Tj
2.2564 0 Td
(two)Tj
1.7064 0 Td
(processes)Tj
-30.852 -1.3039 Td
(operate)Tj
3.1974 0 Td
(in)Tj
1.0318 0 Td
(parallel)Tj
3.1408 0 Td
(to)Tj
1.0261 0 Td
(enable)Tj
2.8006 0 Td
(us)Tj
1.1112 0 Td
(to)Tj
1.0261 0 Td
(tune)Tj
2.0183 0 Td
(and)Tj
1.7291 0 Td
(adapt)Tj
2.4321 0 Td
(our)Tj
1.6271 0 Td
(motor)Tj
2.7212 0 Td
(commands.)Tj
4.8869 0 Td
(We)Tj
1.6101 0 Td
(show)Tj
2.2961 0 Td
(that)Tj
1.7801 0 Td
(a)Tj
-34.435 -1.2983 Td
(model)Tj
2.7439 0 Td
(consisting)Tj
4.2689 0 Td
(of)Tj
1.0148 0 Td
(multiple)Tj
3.566 0 Td
(simple)Tj
2.8516 0 Td
(modules,)Tj
3.8608 0 Td
(each)Tj
2.0296 0 Td
(of)Tj
1.0148 0 Td
(which)Tj
2.6475 0 Td
(can)Tj
1.6271 0 Td
(correct)Tj
3.0387 0 Td
(errors)Tj
2.6249 0 Td
(in)Tj
1.0374 0 Td
(a)Tj
0.652 0 Td
(single)Tj
-32.978 -1.2982 Td
(direction)Tj
3.855 0 Td
(only,)Tj
2.1997 0 Td
(can)Tj
1.6271 0 Td
(account)Tj
3.3845 0 Td
(for)Tj
1.3833 0 Td
(learning)Tj
3.5263 0 Td
(in)Tj
1.0375 0 Td
(multidimensional)Tj
7.3303 0 Td
(tasks.)Tj
2.3925 0 Td
(The)Tj
1.7858 0 Td
(model)Tj
2.7439 0 Td
(makes)Tj
2.7553 0 Td
(pre-)Tj
-34.0212 -1.3039 Td
(dictions)Tj
3.4185 0 Td
(about)Tj
2.4945 0 Td
(which)Tj
2.6532 0 Td
(tasks)Tj
2.1713 0 Td
(should)Tj
2.914 0 Td
(interfere)Tj
3.634 0 Td
(and)Tj
1.7348 0 Td
(how)Tj
1.9389 0 Td
(experience)Tj
4.507 0 Td
(of)Tj
1.0148 0 Td
(errors)Tj
2.6249 0 Td
(alone)Tj
2.3754 0 Td
(without)Tj
-31.4813 -1.2983 Td
(any)Tj
1.6554 0 Td
(contextual)Tj
4.3936 0 Td
(information)Tj
5.0797 0 Td
(can)Tj
1.6271 0 Td
(drive)Tj
2.262 0 Td
(learning.)Tj
3.7474 0 Td
(We)Tj
1.6101 0 Td
(confirm)Tj
3.4469 0 Td
(these)Tj
2.2507 0 Td
(predictions)Tj
4.7338 0 Td
(in)Tj
1.0375 0 Td
(a)Tj
0.6519 0 Td
(series)Tj
2.4265 0 Td
(of)Tj
-34.9226 -1.2983 Td
(experiments.)Tj
5.3631 0 Td
(The)Tj
1.7858 0 Td
(model)Tj
2.7439 0 Td
(provides)Tj
3.651 0 Td
(a)Tj
0.652 0 Td
(new)Tj
1.8765 0 Td
(framework)Tj
4.6148 0 Td
(for)Tj
1.3833 0 Td
(understanding)Tj
6.0717 0 Td
(the)Tj
1.4684 0 Td
(interaction)Tj
-29.6105 -1.2982 Td
(between)Tj
3.5319 0 Td
(task)Tj
1.8085 0 Td
(context)Tj
3.1804 0 Td
(and)Tj
1.7348 0 Td
(error)Tj
2.2621 0 Td
(feedback)Tj
3.7417 0 Td
(during)Tj
2.931 0 Td
(sensorimotor)Tj
5.5615 0 Td
(control)Tj
3.1238 0 Td
(and)Tj
1.7291 0 Td
(learning.)Tj
ET
Q
q
1 j
1 J
0 w
11.9999 0 0 11.9999 200.0125 529.0015 cm
BT
/F2 1 Tf
1 TL
-0.0033 Tc
0 0 Td
(Introduction)Tj
ET
Q
q
1 j
1 J
0 w
10 0 0 10 200.0125 511.9937 cm
BT
/F5 1 Tf
1 TL
-0.004 Tc
0 0 Td
(Current)Tj
3.4185 0 Td
(models)Tj
3.0954 0 Td
(of)Tj
1.0092 0 Td
(sensorimotor)Tj
5.5558 0 Td
(control)Tj
3.1181 0 Td
(posit)Tj
2.16 0 Td
(that)Tj
1.7745 0 Td
(motor)Tj
2.7156 0 Td
(commands)Tj
4.6544 0 Td
(are)Tj
1.44 0 Td
(generated)Tj
4.1329 0 Td
(by)Tj
1.1735 0 Td
(multiple)Tj
-34.2479 -1.2982 Td
(modules)Tj
3.6339 0 Td
(which)Tj
2.6476 0 Td
(can)Tj
1.6271 0 Td
(be)Tj
1.1508 0 Td
(selectively)Tj
4.2406 0 Td
(engaged)Tj
3.5093 0 Td
(depending)Tj
4.4674 0 Td
(on)Tj
1.2755 0 Td
(the)Tj
1.4684 0 Td
(requirements)Tj
5.5672 0 Td
(of)Tj
1.0148 0 Td
(the)Tj
1.4683 0 Td
(task)Tj
1.8085 0 Td
([)Tj
0.83 0.64 0.02 0 k
(1)Tj
0 g
()Tj
0.83 0.64 0.02 0 k
(6)Tj
0 g
(].)Tj
-33.8794 -1.3039 Td
(Familiar)Tj
3.5829 0 Td
(examples)Tj
3.9118 0 Td
(of)Tj
1.0148 0 Td
(modular)Tj
3.6567 0 Td
(architectures)Tj
5.3688 0 Td
(include)Tj
3.1861 0 Td
(multiple)Tj
3.5659 0 Td
(internal)Tj
3.3562 0 Td
(models)Tj
3.1068 0 Td
([)Tj
0.83 0.64 0.02 0 k
(1)Tj
0 g
(,)Tj
0.83 0.64 0.02 0 k
(7)Tj
0 g
()Tj
0.83 0.64 0.02 0 k
(9)Tj
0 g
(],)Tj
3.2938 0 Td
(motor)Tj
-34.0438 -1.2983 Td
(primitives)Tj
4.2632 0 Td
([)Tj
0.83 0.64 0.02 0 k
(10)Tj
0 g
()Tj
0.83 0.64 0.02 0 k
(13)Tj
0 g
(])Tj
3.3222 0 Td
(and)Tj
1.7291 0 Td
(motor)Tj
2.7269 0 Td
(synergies)Tj
3.8948 0 Td
([)Tj
0.83 0.64 0.02 0 k
(14)Tj
0 g
()Tj
0.83 0.64 0.02 0 k
(19)Tj
0 g
(].)Tj
3.5433 0 Td
(Within)Tj
3.0954 0 Td
(this)Tj
1.6725 0 Td
(framework,)Tj
4.8415 0 Td
(the)Tj
1.4683 0 Td
(mechanisms)Tj
-30.5572 -1.2983 Td
(which)Tj
2.6475 0 Td
(select)Tj
2.3981 0 Td
(modules)Tj
3.634 0 Td
(and)Tj
1.7291 0 Td
(modify)Tj
3.0841 0 Td
(their)Tj
2.1089 0 Td
(output)Tj
2.897 0 Td
(are)Tj
1.4457 0 Td
(critical)Tj
2.9537 0 Td
(to)Tj
1.0261 0 Td
(our)Tj
1.6214 0 Td
(understanding)Tj
6.0718 0 Td
(of)Tj
1.0148 0 Td
(sensorimo-)Tj
-32.6322 -1.2982 Td
(tor)Tj
1.3946 0 Td
(control.)Tj
3.3505 0 Td
(However,)Tj
4.0762 0 Td
(despite)Tj
3.0387 0 Td
(growing)Tj
3.5263 0 Td
(evidence)Tj
3.7134 0 Td
(for)Tj
1.3833 0 Td
(modularity)Tj
4.6771 0 Td
(from)Tj
2.2053 0 Td
(a)Tj
0.652 0 Td
(variety)Tj
2.9253 0 Td
(of)Tj
1.0148 0 Td
(paradigms)Tj
-31.9575 -1.3039 Td
(\(for)Tj
1.7234 0 Td
(review)Tj
2.846 0 Td
(see)Tj
1.4286 0 Td
([)Tj
0.83 0.64 0.02 0 k
(20)Tj
0 g
(]\),)Tj
2.4151 0 Td
(the)Tj
1.4684 0 Td
(details)Tj
2.7779 0 Td
(of)Tj
1.0148 0 Td
(module)Tj
3.2712 0 Td
(selection)Tj
3.719 0 Td
(and)Tj
1.7348 0 Td
(learning)Tj
3.5206 0 Td
(remain)Tj
3.0841 0 Td
(poorly)Tj
2.8233 0 Td
(understood.)Tj
-31.8272 -1.2983 Td
(Theoretically,)Tj
5.6805 0 Td
(two)Tj
1.7065 0 Td
(distinct)Tj
3.2145 0 Td
(but)Tj
1.5533 0 Td
(interacting)Tj
4.5638 0 Td
(processes)Tj
3.9685 0 Td
(for)Tj
1.3833 0 Td
(module)Tj
3.2768 0 Td
(selection)Tj
3.719 0 Td
(have)Tj
2.058 0 Td
(been)Tj
2.1203 0 Td
(proposed)Tj
-33.2445 -1.2983 Td
([)Tj
0.83 0.64 0.02 0 k
(1)Tj
0 g
(].)Tj
1.5987 0 Td
(In)Tj
1.1112 0 Td
(the)Tj
1.4683 0 Td
(first)Tj
1.8028 0 Td
(process,)Tj
3.4129 0 Td
(information)Tj
5.074 0 Td
(about)Tj
2.4945 0 Td
(the)Tj
1.4683 0 Td
(context)Tj
3.1861 0 Td
(of)Tj
1.0148 0 Td
(the)Tj
1.4684 0 Td
(task)Tj
1.8141 0 Td
(is)Tj
0.8447 0 Td
(used)Tj
2.0636 0 Td
(to)Tj
1.0205 0 Td
(engage)Tj
2.982 0 Td
(the)Tj
1.4684 0 Td
(appro-)Tj
-34.2933 -1.3039 Td
(priate)Tj
2.5284 0 Td
(modules.)Tj
3.8608 0 Td
(For)Tj
1.6271 0 Td
(example,)Tj
3.77 0 Td
(before)Tj
2.744 0 Td
(an)Tj
1.2018 0 Td
(object)Tj
2.6362 0 Td
(is)Tj
0.8448 0 Td
(grasped,)Tj
3.5489 0 Td
(visual)Tj
2.5115 0 Td
(information)Tj
5.074 0 Td
(about)Tj
2.4944 0 Td
(the)Tj
1.4684 0 Td
(object)Tj
-34.3103 -1.2983 Td
(can)Tj
1.627 0 Td
(be)Tj
1.1509 0 Td
(used)Tj
2.0579 0 Td
(to)Tj
1.0262 0 Td
(estimate)Tj
3.5432 0 Td
(the)Tj
1.4684 0 Td
(dynamics)Tj
4.0592 0 Td
(\(for)Tj
1.7234 0 Td
(example,)Tj
3.7757 0 Td
(the)Tj
1.4684 0 Td
(centre)Tj
2.7099 0 Td
(of)Tj
1.0148 0 Td
(mass\))Tj
2.5341 0 Td
(and)Tj
1.7348 0 Td
(thereby)Tj
3.2258 0 Td
(apply)Tj
-33.1197 -1.2982 Td
(appropriate)Tj
4.8755 0 Td
(control)Tj
3.1238 0 Td
([e.g.)Tj
0.83 0.64 0.02 0 k
1.8992 0 Td
(21)Tj
0 g
(,)Tj
0.83 0.64 0.02 0 k
1.3946 0 Td
(22)Tj
0 g
()Tj
0.83 0.64 0.02 0 k
(24)Tj
0 g
(].)Tj
3.2088 0 Td
(In)Tj
1.1055 0 Td
(the)Tj
1.474 0 Td
(second)Tj
3.0104 0 Td
(process,)Tj
3.4072 0 Td
(errors)Tj
2.6249 0 Td
(occurring)Tj
4.1272 0 Td
(during)Tj
2.9253 0 Td
(a)Tj
0.6577 0 Td
(move-)Tj
-33.8341 -1.3039 Td
(ment)Tj
2.3073 0 Td
(can)Tj
1.6271 0 Td
(be)Tj
1.1509 0 Td
(used)Tj
2.0579 0 Td
(to)Tj
1.0261 0 Td
(modify)Tj
3.0841 0 Td
(the)Tj
1.4684 0 Td
(contributions)Tj
5.6522 0 Td
(of)Tj
1.0148 0 Td
(the)Tj
1.474 0 Td
(modules)Tj
3.6283 0 Td
(to)Tj
1.0262 0 Td
(the)Tj
1.474 0 Td
(motor)Tj
2.7212 0 Td
(output)Tj
2.897 0 Td
(for)Tj
1.3833 0 Td
(future)Tj
-33.9928 -1.2983 Td
(movements.)Tj
5.1023 0 Td
(For)Tj
1.6214 0 Td
(example,)Tj
3.7757 0 Td
(once)Tj
2.126 0 Td
(an)Tj
1.2019 0 Td
(object)Tj
2.6362 0 Td
(has)Tj
1.542 0 Td
(been)Tj
2.1203 0 Td
(grasped)Tj
3.3222 0 Td
(and)Tj
1.7291 0 Td
(manipulated,)Tj
5.4879 0 Td
(movement)Tj
4.5184 0 Td
(errors)Tj
-35.1834 -1.2983 Td
(can)Tj
1.627 0 Td
(be)Tj
1.1509 0 Td
(used)Tj
2.0579 0 Td
(to)Tj
1.0262 0 Td
(update)Tj
2.948 0 Td
(the)Tj
1.4683 0 Td
(module)Tj
3.2712 0 Td
(contribution)Tj
5.2894 0 Td
(so)Tj
1.0885 0 Td
(as)Tj
1.0148 0 Td
(to)Tj
1.0261 0 Td
(reduce)Tj
2.9197 0 Td
(errors)Tj
2.6248 0 Td
(when)Tj
2.4038 0 Td
(the)Tj
1.4683 0 Td
(object)Tj
2.6363 0 Td
(is)Tj
-34.0212 -1.2982 Td
(manipulated)Tj
5.261 0 Td
(again)Tj
2.3698 0 Td
([e.g.)Tj
0.83 0.64 0.02 0 k
1.8992 0 Td
(25)Tj
0 g
(].)Tj
-8.3338 -1.3039 Td
(A)Tj
0.907 0 Td
(range)Tj
2.4605 0 Td
(of)Tj
1.0148 0 Td
(studies)Tj
2.9877 0 Td
(have)Tj
2.0579 0 Td
(focused)Tj
3.2825 0 Td
(on)Tj
1.2756 0 Td
(how)Tj
1.9389 0 Td
(bottom-up)Tj
4.5524 0 Td
(errors)Tj
2.6249 0 Td
(drive)Tj
2.262 0 Td
(trial-by-trial)Tj
5.1194 0 Td
(adaptation)Tj
-31.6798 -1.2983 Td
(and)Tj
1.7291 0 Td
(have)Tj
2.0579 0 Td
(used)Tj
2.0636 0 Td
(state-space)Tj
4.5411 0 Td
(models)Tj
3.1067 0 Td
(to)Tj
1.0262 0 Td
(capture)Tj
3.2145 0 Td
(motor)Tj
2.7212 0 Td
(learning)Tj
3.5263 0 Td
(in)Tj
1.0374 0 Td
(various)Tj
3.1408 0 Td
(tasks)Tj
2.1713 0 Td
([)Tj
0.83 0.64 0.02 0 k
(10)Tj
0 g
(,)Tj
0.83 0.64 0.02 0 k
(26)Tj
0 g
()Tj
0.83 0.64 0.02 0 k
(28)Tj
0 g
(].)Tj
4.7225 0 Td
(A)Tj
-35.0586 -1.2983 Td
(number)Tj
3.4185 0 Td
(of)Tj
1.0148 0 Td
(studies)Tj
2.982 0 Td
(have)Tj
2.0636 0 Td
(also)Tj
1.7689 0 Td
(incorporated)Tj
5.4141 0 Td
(the)Tj
1.4683 0 Td
(use)Tj
1.5364 0 Td
(of)Tj
1.0148 0 Td
(top-down)Tj
4.1556 0 Td
(contextual)Tj
4.3936 0 Td
(information)Tj
5.0797 0 Td
([)Tj
0.83 0.64 0.02 0 k
(27)Tj
0 g
(,)Tj
0.83 0.64 0.02 0 k
(29)Tj
0 g
(].)Tj
-34.3103 -1.3039 Td
(However,)Tj
4.0761 0 Td
(in)Tj
1.0375 0 Td
(general)Tj
3.1294 0 Td
(this)Tj
1.6725 0 Td
(contextual)Tj
4.3937 0 Td
(information)Tj
5.0796 0 Td
(has)Tj
1.542 0 Td
(consisted)Tj
3.9345 0 Td
(of)Tj
1.0148 0 Td
(differences)Tj
4.5694 0 Td
(in)Tj
1.0318 0 Td
(movement)Tj
-31.4813 -1.2983 Td
(kinematics)Tj
4.558 0 Td
(\(for)Tj
1.7235 0 Td
(example,)Tj
3.7757 0 Td
(movements)Tj
4.8756 0 Td
(to)Tj
1.0261 0 Td
(different)Tj
3.6567 0 Td
(target)Tj
2.5115 0 Td
(locations\).)Tj
4.3766 0 Td
(In)Tj
1.1112 0 Td
(contrast,)Tj
3.685 0 Td
(contextual)Tj
-31.2999 -1.2982 Td
(information)Tj
5.0739 0 Td
(during)Tj
2.931 0 Td
(motor)Tj
2.7213 0 Td
(tasks)Tj
2.1713 0 Td
(can)Tj
1.6271 0 Td
(change)Tj
3.0387 0 Td
(the)Tj
1.474 0 Td
(dynamics)Tj
4.0535 0 Td
(of)Tj
1.0148 0 Td
(the)Tj
1.4684 0 Td
(task)Tj
1.8085 0 Td
(without)Tj
3.3335 0 Td
(changing)Tj
3.9004 0 Td
(the)Tj
-34.6164 -1.3039 Td
(movement)Tj
4.5127 0 Td
(kinematics)Tj
4.5581 0 Td
(\(for)Tj
1.7291 0 Td
(example,)Tj
3.7757 0 Td
(differences)Tj
4.5638 0 Td
(in)Tj
1.0374 0 Td
(the)Tj
1.4684 0 Td
(size,)Tj
1.9105 0 Td
(shape)Tj
2.4831 0 Td
(and)Tj
1.7292 0 Td
(orientation)Tj
4.6884 0 Td
(of)Tj
1.0148 0 Td
(a)Tj
0.6577 0 Td
(hand-)Tj
-34.1289 -1.2983 Td
(held)Tj
1.9445 0 Td
(object\).)Tj
3.2031 0 Td
(Moreover,)Tj
4.3937 0 Td
(many)Tj
2.4775 0 Td
(current)Tj
3.1861 0 Td
(state-space)Tj
4.5411 0 Td
(models)Tj
3.1067 0 Td
(only)Tj
1.9786 0 Td
(deal)Tj
1.8482 0 Td
(with)Tj
2.0012 0 Td
(scalar)Tj
2.4888 0 Td
(error,)Tj
2.4888 0 Td
(whereas)Tj
-33.6583 -1.2983 Td
(motor)Tj
2.7212 0 Td
(errors)Tj
2.6249 0 Td
(can)Tj
1.627 0 Td
(be)Tj
1.1509 0 Td
(multi-dimensional.)Tj
7.9029 0 Td
(Here)Tj
2.2054 0 Td
(we)Tj
1.3323 0 Td
(examine)Tj
3.5999 0 Td
(the)Tj
1.4684 0 Td
(interaction)Tj
4.6091 0 Td
(of)Tj
1.0148 0 Td
(information)Tj
-30.2568 -1.3039 Td
(derived)Tj
3.2144 0 Td
(from)Tj
2.2054 0 Td
(the)Tj
1.4683 0 Td
(visual)Tj
2.5115 0 Td
(context)Tj
3.1861 0 Td
(and)Tj
1.7291 0 Td
(kinematic)Tj
4.2009 0 Td
(error)Tj
2.2621 0 Td
(in)Tj
1.0374 0 Td
(a)Tj
0.652 0 Td
(task)Tj
1.8085 0 Td
(in)Tj
1.0375 0 Td
(which)Tj
2.6475 0 Td
(both)Tj
2.0636 0 Td
(the)Tj
1.4684 0 Td
(context)Tj
3.1861 0 Td
(\(the)Tj
-34.6788 -1.2983 Td
(orientation)Tj
4.6884 0 Td
(of)Tj
1.0148 0 Td
(an)Tj
1.2019 0 Td
(object\))Tj
2.9764 0 Td
(and)Tj
1.7291 0 Td
(error)Tj
2.2677 0 Td
(direction)Tj
3.8551 0 Td
(\(the)Tj
1.8085 0 Td
(displacement)Tj
5.5105 0 Td
(of)Tj
1.0148 0 Td
(the)Tj
1.4683 0 Td
(control-point)Tj
5.6126 0 Td
(on)Tj
1.2756 0 Td
(the)Tj
-34.4237 -1.2982 Td
(object\))Tj
2.9763 0 Td
(can)Tj
1.6271 0 Td
(take)Tj
1.8708 0 Td
(on)Tj
1.2756 0 Td
(continuous)Tj
4.7339 0 Td
(values.)Tj
2.8913 0 Td
(We)Tj
1.61 0 Td
(use)Tj
1.5307 0 Td
(a)Tj
0.6577 0 Td
(two-dimensional)Tj
7.0072 0 Td
(object)Tj
2.6362 0 Td
(manipulation)Tj
5.6352 0 Td
(task)Tj
1.8142 0 Td
(in)Tj
-36.2662 -1.2983 Td
(which)Tj
2.6475 0 Td
(the)Tj
1.4683 0 Td
(desired)Tj
3.1238 0 Td
(movement)Tj
4.5184 0 Td
(kinematics)Tj
4.5581 0 Td
(are)Tj
1.4456 0 Td
(the)Tj
1.474 0 Td
(same)Tj
2.2564 0 Td
(across)Tj
2.6759 0 Td
(differences)Tj
4.5637 0 Td
(in)Tj
1.0375 0 Td
(context)Tj
3.1861 0 Td
(and)Tj
1.7292 0 Td
(the)Tj
-34.6845 -1.3039 Td
(error)Tj
2.262 0 Td
(is)Tj
0.8504 0 Td
(a)Tj
0.6519 0 Td
(vector)Tj
2.6986 0 Td
(rather)Tj
2.6475 0 Td
(than)Tj
2.0296 0 Td
(a)Tj
0.652 0 Td
(simple)Tj
2.8573 0 Td
(scalar)Tj
2.4888 0 Td
(value.)Tj
-15.9419 -1.2983 Td
(We)Tj
1.61 0 Td
(develop)Tj
3.3222 0 Td
(a)Tj
0.652 0 Td
(novel)Tj
2.4037 0 Td
(modular)Tj
3.651 0 Td
(architecture)Tj
5.0117 0 Td
(in)Tj
1.0318 0 Td
(which)Tj
2.6532 0 Td
(each)Tj
2.0296 0 Td
(module)Tj
3.2711 0 Td
(is)Tj
0.8448 0 Td
(one-dimensional)Tj
7.0015 0 Td
(and)Tj
-34.6788 -1.2982 Td
(therefore)Tj
3.855 0 Td
(capable)Tj
3.2032 0 Td
(of)Tj
1.0148 0 Td
(generating)Tj
4.4673 0 Td
(force)Tj
2.2337 0 Td
(in)Tj
1.0318 0 Td
(only)Tj
1.9786 0 Td
(one)Tj
1.7008 0 Td
(direction)Tj
3.8494 0 Td
(\(its)Tj
1.491 0 Td
(preferred)Tj
3.9345 0 Td
(direction\).)Tj
4.422 0 Td
(Both)Tj
2.1316 0 Td
(the)Tj
-35.3137 -1.3039 Td
(top-down)Tj
4.1612 0 Td
(context)Tj
3.1804 0 Td
(and)Tj
1.7348 0 Td
(bottom-up)Tj
4.5524 0 Td
(errors)Tj
2.6249 0 Td
(contribute)Tj
4.388 0 Td
(to)Tj
1.0261 0 Td
(adaptation)Tj
4.4901 0 Td
(of)Tj
1.0148 0 Td
(modules)Tj
3.6283 0 Td
(across)Tj
2.6816 0 Td
(consecu-)Tj
-33.4826 -1.2983 Td
(tive)Tj
1.661 0 Td
(trials.)Tj
2.4265 0 Td
(Within)Tj
3.0954 0 Td
(a)Tj
0.652 0 Td
(given)Tj
2.381 0 Td
(trial,)Tj
2.058 0 Td
(the)Tj
1.474 0 Td
(motor)Tj
2.7212 0 Td
(output)Tj
2.897 0 Td
(is)Tj
0.8447 0 Td
(determined)Tj
4.8529 0 Td
(by)Tj
1.1792 0 Td
(both)Tj
2.0636 0 Td
(the)Tj
1.4684 0 Td
(context)Tj
3.1861 0 Td
(and)Tj
1.7291 0 Td
(the)Tj
ET
Q
q
1 j
1 J
0 w
576 737.1 m
36 737.1 l
36 737.6 l
576 737.6 l
f*
36 741.2598 169.285 23.6976 re
W* n
q
169.2283 0 0 23.6409 36 741.3165 cm
q
/I0 Do
Q
Q
Q
q
0 0 612 792 re
W* n
1 j
1 J
0 w
7.9999 0 0 7.9999 414.7653 745.7952 cm
BT
/F0 1 Tf
1 TL
-0.005 Tc
0 0 Td
(An)Tj
1.4244 0 Td
(error-tuned)Tj
5.0811 0 Td
(model)Tj
2.8914 0 Td
(for)Tj
1.3677 0 Td
(sensorimoto)Tj
5.3575 0 Td
(r)Tj
0.5457 0 Td
(learning)Tj
ET
Q
q
1 j
1 J
0 w
36 48.0002 m
576 48.0002 l
576 47.5002 l
36 47.5002 l
f*
0.83 0.64 0.02 0 k
142.5827 34.9228 m
295.8236 34.9228 l
h
f*
0 g
7.9999 0 0 7.9999 36 36 cm
BT
/F0 1 Tf
1 TL
-0.005 Tc
0 0 Td
(PLOS)Tj
2.8559 0 Td
(Computationa)Tj
6.1229 0 Td
(l)Tj
0.4322 0 Td
(Biology)Tj
3.4371 0 Td
(|)Tj
0.83 0.64 0.02 0 k
0.4748 0 Td
(https:/)Tj
2.6788 0 Td
(/doi.org/10.13)Tj
6.0094 0 Td
(71/journal.p)Tj
5.1166 0 Td
(cbi.1005883)Tj
0 g
6.3497 0 Td
(Decemb)Tj
3.6638 0 Td
(er)Tj
1.0913 0 Td
(18,)Tj
1.5874 0 Td
(2017)Tj
25.3207 0 Td
(2)Tj
0.7654 0 Td
(/)Tj
0.496 0 Td
(31)Tj
/F8 1 Tf
-0.025 Tc
-66.402 84.0904 Td
(decision)Tj
3.2882 0 Td
(to)Tj
0.9496 0 Td
(publish,)Tj
3.1465 0 Td
(or)Tj
0.9992 0 Td
(preparation)Tj
4.4433 0 Td
(of)Tj
0.9496 0 Td
(the)Tj
-13.7764 -1.3748 Td
(manuscript.)Tj
/F7 1 Tf
0 -2.126 Td
(Competing)Tj
4.3795 0 Td
(interests)Tj
3.3307 0 Td
(:)Tj
/F8 1 Tf
0.4819 0 Td
(The)Tj
1.5875 0 Td
(authors)Tj
3.0401 0 Td
(have)Tj
1.963 0 Td
(declared)Tj
-14.7827 -1.3749 Td
(that)Tj
1.6228 0 Td
(no)Tj
1.1693 0 Td
(competing)Tj
4.1599 0 Td
(interests)Tj
ET
endstream
endobj
37 0 obj
<>stream
endstream
endobj
38 0 obj
<>stream
endstream
endobj
39 0 obj
<>stream
endstream
endobj
40 0 obj
<>stream
endstream
endobj
41 0 obj
<>stream
endstream
endobj
42 0 obj
<>stream
endstream
endobj
43 0 obj
<>stream
endstream
endobj
44 0 obj
<>stream
endstream
endobj
45 0 obj
<>stream
endstream
endobj
46 0 obj
<>stream
endstream
endobj
47 0 obj
<>stream
endstream
endobj
48 0 obj
<>stream
endstream
endobj
49 0 obj
<>stream
endstream
endobj
50 0 obj
<>stream
endstream
endobj
51 0 obj
<>stream
endstream
endobj
52 0 obj
<>stream
endstream
endobj
53 0 obj
<>stream
endstream
endobj
54 0 obj
<>stream
BT
10.3394 79.2147 Td
(exist.)Tj
ET
Q
endstream
endobj
55 0 obj
<>/XObject<>>>/CropBox[0 0 612 792]/MediaBox[0 0 612 792]/Parent 11 0 R/Annots 59 0 R/Contents 60 0 R/TrimBox[0 0 612 792]>>
endobj
58 0 obj
<>stream
xgtW?( I D9'L0",ML`lN6{=3ܻ33߽]UT[-VuJG߷E$@$@$@$@$@$@$@$@.H"" 0rm T\K$@$@$@$@$@$@$@$@H۹{s" &KF/2 \AL wmgW{_7nd,7 ݻgnZ`:ɓxo9 2@>;7EakҤIj! % iJNN_
X1 `&@gwmСC?u]% %O۩>K#N
Z
92%*8/<5 <)%g^d0=p @@ZIPwH mg_ e;+!u$ %P6os5Ly$@$@C3poNxK"""% *'9}_ N^ՂWl'%1O