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Table 1 Sensorimotor control known variables

From: Sensorimotor control: computing the immediate future from the delayed present

Variable Definition
r(t) Goal or reference
x(t − τ) Delayed sensory inputs
ê(t) Prediction errors
\( \widehat{\tau} \) Estimated time delay
\( G\left(t-\widehat{\tau}\right) \) Estimated sensory
Jacobian
B Control Jacobian
u Motor commands