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Puigb\'f2 J.Y, Herreros I., Moulin-Frier C., Verschure P.F &.\'a0 2015.\'a0\'a0Towards 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.\par \par }