CS stimulus drives (via caudal bending of femur) protractor or retractor as observed in Akay et al. [20].

Cycles that are driven only by pilocarpine are plotted for each joint on top of the CS-driven results (same scale, periods: alpha joint: 10.2 s, beta joint 4.6 s, gamma joint: 4.2 s) and marked by the same colors but with filled rectangles and ‘Piloc.’. A) Sensory input, period: 3.6 s, B) Sensory input, period: 10.8 s. Abscissa: time (s), ordinate (mV). Dashed lines: simulation data for which no biological results are given.