The python model associated with the paper:

Singh N, Huyck C, Gandhi V, Jones A (2016) Neuron-Based Control
Mechanisms for a Robotic Arm and Hand ICMRRS 2017: International
Conference on Medical Robotics and Robotics for Surgery, Paris, France
3(2):660
http://waset.org/publications/10006430/neuron-based-control-mechanisms-for-a-robotic-arm-and-hand

is available at the web site:

http://www.cwa.mdx.ac.uk/NEAL/code/simpRobot.html