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Computational Neuroscience, and . chapter Modelling motor control paradigms, page 535-564. Chapman & Hall, (2003)A control model of human tongue movements in speech, , and . Biological Cybernetics, (1997)Bio-mimetic Trajectory Generation using a Neural Time-Base Generator, , , and . Journal of Robotic Systems, (2005)Modelling motor control paradigms, and . Computational Neuroscience, Chapman & Hall, (2003)