title: Computation of inverse dynamics for the control of movements.
abstract: Accuracy of movements requires that the central nervous system computes approximate inverse functions of the mechanical functions of limb articulations. In vertebrates, this is known to be achieved within the cerebellar pathways, and also in the cerebral cortex of primates. A cybernetic circuit achieving this computation allows accurate simulation of fast movements of the eye or forearm. It is consistent with anatomy, and with the classical view of the cerebellum as permanently supervised by the inferior olive. The inferior olive detects over-or under-shoots of movements, and the resulting climbing fiber activity corrects ongoing movements, regulates the function of cerebellar cortex and nuclei, and sets the gains of the sensorimotor reactions.
authors.affiliation: Ecole Nationale Supérieure des Télécommunications, URA CNRS 820, Département Image, Paris, France.
authors.forename: C
authors.initials: C
authors.lastname: Darlot
authors.forename: L
authors.initials: L
authors.lastname: Zupan
authors.forename: O
authors.initials: O
authors.lastname: Etard
authors.forename: P
authors.initials: P
authors.lastname: Denise
authors.forename: A
authors.initials: A
authors.lastname: Maruani
mesh_terms: D002531:Cerebellum / Q000502:physiology; D005121:Extremities / Q000294:innervation / Q000502:physiology; D005133:Eye Movements / Q000502:physiology; D005246:Feedback; D008954:Models, Biological; D009046:Motor Neurons / Q000502:physiology; D009068:Movement / Q000502:physiology*; D018482:Muscle, Skeletal / Q000294:innervation / Q000502:physiology; D009434:Neural Pathways / Q000502:physiology; D009475:Neurons, Afferent / Q000502:physiology; D009847:Olivary Nucleus / Q000502:physiology