WITHDRAWN: Decoupling smoothness, accuracy, and kinematic invariance in biological reach: an ablation study of an equilibrium-point controller in a 34-muscle arm model

Withdrawal statement The authors have withdrawn this manuscript because, after submission, a methodological flaw was identified in the kinematic lambda recipe used by the controller: it does not include a gravity-compensation term. As a consequence, all controller variants converge toward a similar end-region of the workspace regardless of the commanded target, so the reported minimum-tip-error values (∼100 mm) and the equivalence and non-inferiority conclusions relative to the endpoint-PD + spinal baseline reflect workspace geometry rather than reaching performance. The central comparison and the main conclusions of the paper are therefore not supported by the underlying experiments. Therefore, the authors do not wish this work to be cited as reference for the project. If you have any questions, please contact the corresponding author.