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Puigbò J.Y, Herreros I., Moulin-Frier C., Verschure P.F &.  2015.  Towards a two-phase model of sensor and motor learning. . The 4th International Conference on Biomimetic and Biohybrid Systems. 28 - 31 July 2015. La Pedrera Barcelona, Spain . In Biomimetic and Biohybrid Systems Springer International Publishing.:453-460.