How central pattern generation, inverse and forward modelling, and high level diskret negative feedback make limb movements via contineous mechanical displacement on the joint level.
High level diskret negative feedback then controls the activity of the central pattern generator.
This makes possible a simple feedforward model and enables a simple realization of the time course put out by the central target generator. Myotatic reflex activity is assumed to modulate stiffness and damping coefficient without influencing the control signal itself. When comparing perturbed human forearm movements to arm movements generated by an artificial hybrid controller, the simulated kinematics closely resememble the observed human kinematics. We conclude that our physically based motor controller that does not differentiate between various sources of stiffness provides a good fit of the motor controller implemented in humans.