p417fig12.15 The DIRECT and DIVA models have homologous circuits to learn and control motor-equivalent reaching and speaking, with tool use and coarticulation resulting properties.  See the text for why.<BR>||  From Seeing and Reaching to Hearing and Speaking, Circular reactions (Piaget 1945, 1951, 1952).  Homologous circuits for development and learning of motor-equivalent REACHING and SPEAKING.  DIRECT TOOL use (Bullock, Grossberg, Guenther 1993), DIVA Coarticulation (Guenther 1995)