The cerebellum as computed torque model
نویسندگان
چکیده
In this article we consider the cerebellum in the vertebrate motor control system. Analyzing the delays in this control loop as well as the complexity of the dynamics of the skeletomuscular system, we £nd that two well-known interpretations of the function of the cerebellum—that of a Smith predictor, or of an inverse model controller—are insuf£cient to solve the control problem at hand.
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