@article{Howard2009a Author = {Ian S Howard and James N Ingram and Daniel M Wolpert}, Title = {A modular planar robotic manipulandum with end-point torque control.}, Journal = {J Neurosci Methods}, Year = {2009}, Volume = {181}, Number = {2}, Pages = {199--211}, Month = {Jul}, Institution = {Computational and Biological Learning Laboratory, Department of Engineering, University of Cambridge, Trumpington Street, Cambridge CB21PZ, UK. ish22@cam.ac.uk} }