Closed-loop algorithm.

(A) Closed-loop design: the sensory mapping (1–2), the motor mapping (3–4), and the training rules (5–6). Refer to Methods for a detailed explanation. (B) Motor mapping transformation. Left: In the beginning of each experiment, each CPS (CPS_Q1–CPS_Q4) was continuously delivered every 5 seconds with RBS in between. After the animat reached the outer circle, it was moved back to the inner circle. Middle: The average CAs from probe responses to each CPS were calculated (CA_Q1–CA_Q4). The average CAs represent the average movements from each CPS. Right: The transformation for each CPS was created so that the average movement in each quadrant would be the desired movement with a magnitude of 1 unit (M_Q1–M_Q4).