A method for controlling a joint (150, 322, 324, 326) of a robotic arm, the method comprising: receiving, by a neuromorphic controller (100; 200; 210; 220; 312) comprising a spiking neural network, SNN,, a target value of a joint control variable for the joint of the robotic arm, wherein the SNN comprises a first and a second position control proprioceptor neuron (121, 122), a first and a second speed control proprioceptor neuron (123, 124), an extensor motor neuron, and a flexor motor neuron; generating, by the neuromorphic controller, an actuation signal that causes the joint of the robotic arm to move based on a difference between the target value of the joint control variable and an actual value of the joint control variable, the generating comprising: determining, by the first position control proprioceptor neuron, that the actual value of the joint control variable is less than the target value of the joint control variable and, in response, generating first spikes to the extensor motor neuron; or determining, by the second position proprioceptor neuron, that the actual value of the target control variable is greater than the target value of the joint control variable and, in response, generating the first spikes to the flexor motor neuron; and determining, by the first speed control proprioceptor neuron, that the speed of movement of the joint of the robotic arm is positive and, in response, generating second spikes to the flexor motor neuron; or determining, by the second speed control proprioceptor neuron, that the speed of movement of the joint of the robotic arm is negative and, in response, generating the second spikes to the extensor motor neuron; and generating a value of the actuation signal based on spiking activity, caused by the first spikes and the second spikes, of the extensor motor neuron or the flexor motor neuron; and causing the joint to move by outputting the actuation signal to the joint. receiving, by a neuromorphic controller (100; 200; 210; 220; 312) comprising a spiking neural network, SNN,, a target value of a joint control variable for the joint of the robotic arm, wherein the SNN comprises a first and a second position control proprioceptor neuron (121, 122), a first and a second speed control proprioceptor neuron (123, 124), an extensor motor neuron, and a flexor motor neuron; generating, by the neuromorphic controller, an actuation signal that causes the joint of the robotic arm to move based on a difference between the target value of the joint control variable and an actual value of the joint control variable, the generating comprising: determining, by the first position control proprioceptor neuron, that the actual value of the joint control variable is less than the target value of the joint control variable and, in response, generating first spikes to the extensor motor neuron; or determining, by the second position proprioceptor neuron, that the actual value of the target control variable is greater than the target value of the joint control variable and, in response, generating the first spikes to the flexor motor neuron; and determining, by the first speed control proprioceptor neuron, that the speed of movement of the joint of the robotic arm is positive and, in response, generating second spikes to the flexor motor neuron; or determining, by the second speed control proprioceptor neuron, that the speed of movement of the joint of the robotic arm is negative and, in response, generating the second spikes to the extensor motor neuron; and generating a value of the actuation signal based on spiking activity, caused by the first spikes and the second spikes, of the extensor motor neuron or the flexor motor neuron; and determining, by the first position control proprioceptor neuron, that the actual value of the joint control variable is less than the target value of the joint control variable and, in response, generating first spikes to the extensor motor neuron; or determining, by the second position proprioceptor neuron, that the actual value of the target control variable is greater than the target value of the joint control variable and, in response, generating the first spikes to the flexor motor neuron; and determining, by the first speed control proprioceptor neuron, that the speed of movement of the joint of the robotic arm is positive and, in response, generating second spikes to the flexor motor neuron; or determining, by the second speed control proprioceptor neuron, that the speed of movement of the joint of the robotic arm is negative and, in response, generating the second spikes to the extensor motor neuron; and generating a value of the actuation signal based on spiking activity, caused by the first spikes and the second spikes, of the extensor motor neuron or the flexor motor neuron; and causing the joint to move by outputting the actuation signal to the joint.