Figure 1From: Effects of muscle dynamics and proprioceptive feedback on the kinematics and CPG activity of salamander steppingA) kinematics deviating from the EMG pattern in the trunk of an 8-joints model without feedback, illustrating the effect of muscle dynamics. The increased slope of the kinematic line corresponds to motion closer to a standing wave. B) modulation of the CPG by feedback in a 10-joints model (for increased granularity).Back to article page