[1] Max Planck Inst Biol Cybernet, D-72076 Tubingen, Germany
[2] Bernstein Ctr Computat Neurosci, D-72076 Tubingen, Germany
[3] Italian Inst Technol, Robot Brain & Cognit Sci Dept, I-16163 Genoa, Italy
[4] Italian Inst Technol, Neurosci & Cognit Syst Ctr, I-16163 Genoa, Italy
[5] Univ Manchester, Div Imaging Sci & Biomed Engn, Manchester M13 9PT, Lancs, England