Parameters corresponding to the simulated movements of Fig 3.
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In all cases, initial and final positions were 25° and 65° (amplitude of 40°). The target width was 5° such that the index of difficulty (ID) was 4 bits. The reference end-point standard deviation can thus be 2.5°. The effort is measured as the quadratic cost in u according to Eq 21.
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2020-02-28
