title: Computational mechanisms of sensorimotor control.
abstract: In order to generate skilled and efficient actions, the motor system must find solutions to several problems inherent in sensorimotor control, including nonlinearity, nonstationarity, delays, redundancy, uncertainty, and noise. We review these problems and five computational mechanisms that the brain may use to limit their deleterious effects: optimal feedback control, impedance control, predictive control, Bayesian decision theory, and sensorimotor learning. Together, these computational mechanisms allow skilled and fluent sensorimotor behavior.
authors.affiliation: Computational and Biological Learning Laboratory, Department of Engineering, University of Cambridge, UK. dwf25@cam.ac.uk
authors.forename: David W
authors.initials: DW
authors.lastname: Franklin
authors.forename: Daniel M
authors.initials: DM
authors.lastname: Wolpert
mesh_terms: D000222:Adaptation, Physiological; D000818:Animals; D001499:Bayes Theorem; D001921:Brain / Q000502:physiology*; D003198:Computer Simulation; D005246:Feedback; D006801:Humans; D007858:Learning; D008959:Models, Neurological; D009068:Movement / Q000502:physiology*; D017711:Nonlinear Dynamics; D010465:Perception; D011597:Psychomotor Performance / Q000502:physiology*