"So, a big underlying question at that time was it seemed that robots or the way to make robots useful was to develop something called a general purpose controller, which meant that whatever you were asked to do you had some planning machinery that basically operated in the same way and just did it, and a signature of that kind of approach is no matter how you moved, you’re always gonna do things in the same way, so maybe you move in straight lines or something like that. So, the obvious thing to do is to then look at humans and apply that kind of test and see when we ask humans to do different things, is there some commonality or are they coughing up some sort of special purpose solution to everything they do? And it turned out most of the time you ask people to move from point A to point B, and we developed some measurement system to do that, they move with a hand in a roughly straight line and more importantly with what’s called a bell-shaped philosophy profile, so they start up in a particular way and they slow down symmetrically. So, it’s a nice smooth movement. And that was actually an argument that whatever’s going on in your brain, there seems to be a general purpose movement system, at least for move from point A to point B in a human with your arm. Later, the bell-shaped philosophy profile was extended to all sorts of things like jaw movements, tongue movements, leg movements, so it actually seemed that whatever’s going on, it generalized across limbs as well."