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This Concept Map, created with IHMC CmapTools, has information related to: chapter2_experiment state machine, user voluntarily perform the task ???? error from the trajectory, take the internal dynamics kinematic info. based on the kinematic info. determine the amplitude/direction of the stall Joint torque, user voluntarily perform the task ???? take the internal dynamics, User acknowledge the task initiation of the behavior user voluntarily perform the task, error from the trajectory yes or no take the internal dynamics