Figure 2: CPG timer circuit in the absence of peripheral feedback coordinates the movements. The figure shows the neuromechanical tuning [78, 79]. The primary motor cortex region dictates the movement via the basal ganglia and thalamus to the MBLR which is a part of the brainstem where spatial–temporal patterns are encoded. Force and displacement are sensed by the muscle spindle and the Golgi sensory receptor through a feedback.