The work presented in this paper is addressed to a motor-control hypothesis known as the "equilibrium-point hypothesis" (Feldman 1974; Bizzi et al. 1984; Hogan 1984). According to this hypothesis, the central nervous system (CNS) takes advantage of the mechanical properties of muscles for solving the complex computational problems related to the control and representation of limb posture and movement.
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Mussa-Ivaldi et al. (1990) studied this question.