Abstract
The human motor control system is an extraordinarily complex system that consists of layers of neural control systems that address different demands of motive behavior. A primary distinction between these systems can be made on the basis of time. Systems in the forebrain operate on the order of hundreds of milliseconds to make strategic choices in dynamic trajectories whereas systems in the spinal cord have the primary goal of handling the dynamic disturbances associated with inertial and contact loads. This paper focuses on the latter, proposing an abstract formalism for spinal cord control that can account for load variations.