Neural evidence of the cerebellum as a state predictor
Open accessAbstract
We here provide neural evidence that the cerebellar circuit can predict future inputs from present outputs, a hallmark of an internal forward model. Recent computational studies hypothesize that the cerebellum performs state prediction known as a forward model. To test the forward-model hypothesis, we analyzed activities of 94 mossy fibers (inputs to the cerebellar cortex), 83 Purkinje cells (output from the cerebellar cortex to dentate nucleus), and 73 dentate nucleus cells (cerebellar output) in the cerebro-cerebellum, all recorded from a monkey performing step-tracking movements of the right wrist. We found that the firing rates of one population could be reconstructed as a weighted linear sum of those of preceding populations. We then went on to investigate if the current outputs of the cerebellum (dentate cells) could predict the future inputs of the cerebellum (mossy fibers). The firing rates of mossy fibers at time t + t 1 could be well reconstructed from as a weighted sum of firing rates of dentate cells at time t , thereby proving that the dentate activities contained predictive information about the future inputs. The average goodness-of-fit ( R 2 ) decreased moderately from 0.89 to 0.86 when t 1 was increased from 20 to 100 ms, hence indicating that the prediction is able to compensate the latency of sensory feedback. The linear equations derived from the firing rates resembled those of a predictor known as Kalman filter composed of prediction and filtering steps. In summary, our analysis of cerebellar activities supports the forward-model hypothesis of the cerebellum.
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In the authors' data set, there were two functionally distinct populations of MFs; one contributed to the prediction step and the other to the filtering step.
“Consistent with the anatomical observations, there were two functionally distinct populations of MFs in our data set (Tanaka et al., 2019). One population of MFs contributed to the prediction step and the other population of MFs contributed to the filtering step.”
From The Cerebro-Cerebellum as a Locus of Forward Model: A Review (2020) · cites this paper as Tanaka et al., 2019
The Results section, “Statistical Comparison of MF–PC and MF–DC Projections” (page unavailable), reports that PCs and DCs received projections from different MF populations. The Discussion, “Linear Equations and Interpretation as Kalman Filter” (page unavailable), maps MF-to-PC activity to a prediction step and MF-to-DC activity to a filtering step, but explicitly calls that Kalman-filter interpretation speculative. The claim presents those functional roles as established contributions rather than a proposed interpretation. (LLM, conf=0.86)
Experimental — accuracy not yet measuredA recent study clarified controversial results by showing that the dentate nuclei cells firing rates could predict the future inputs to the cerebellum, strongly supporting the forward model.
“A recent study clarified these controversial results by showing that the dentate nuclei cells firing rates could predict the future inputs to the cerebellum, strongly supporting the forward model (Tanaka et al., 2019).”
From The Forward Model: A Unifying Theory for the Role of the Cerebellum in Motor Control and Sense of Agency (2021) · cites this paper as Tanaka et al., 2019
The firing rates of DNCs were also well reconstructed as a weighted linear sum of MFs and PCs.
“the firing rates of DNCs were also well reconstructed as a weighted linear sum of MFs and PCs”
From The Cerebro-Cerebellum as a Locus of Forward Model: A Review (2020) · cites this paper as Tanaka et al., 2019
A linear weighted sum of MF firing rates reconstructed PC firing rates most parsimoniously, in comparison with a thresholding model, a quadratic model or an FIR model.
“A linear weighted sum of MF firing rates reconstructed PC firing rates most parsimoniously, in comparison with a thresholding model, a quadratic model or an FIR model.”
From The Cerebro-Cerebellum as a Locus of Forward Model: A Review (2020) · cites this paper as Tanaka et al., 2019
The finding that cerebellar output contains predictive information about future cerebellar input supports the internal-forward-model hypothesis of the cerebellum.
“which in turn supports the internal-forward-model hypothesis of the cerebellum.”
From The Cerebro-Cerebellum as a Locus of Forward Model: A Review (2020) · cites this paper as Tanaka et al., 2019
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Bioinspired trajectory modulation for effective slip control in robot manipulation
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Is essential tremor a disorder of GABA dysfunction? No
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The Pathophysiology of Tics; An Evolving Story
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Self-citationThe Input-Output Organization of the Cerebrocerebellum as Kalman Filter
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The emergence of identity, agency and consciousness from the temporal dynamics of neural elaboration
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Editorial: Information Processing in the Cerebellum
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A spiking network model of the cerebellum for predicting movements with diverse complex spikes
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Grasping changes in healthy older adults: adaptations in motor control
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Multidimensional cerebellar computations for flexible kinematic control of movementsPreprint
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Cerebellar clinical syndromes: the triad and rating scales
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New theoretical framework for perceptual-motion integration based on active simulation function
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- Authors
- Tanaka, H., Ishikawa, T., & Kakei, S.
- Affiliations
- Japan Advanced Institute of Science and Technology (JP)
- Tokyo Metropolitan Institute of Medical Science (JP)
- Corresponding author
- Tanaka, Hirokazu
- Venue
- The Cerebellum
- Published
- 2019-01-09
- Volume
- 18
- Issue
- 3
- Pages
- 349-371
- ISSN
- 1473-4222 (ISSN-L)
- 1473-4230
- PMC
- PMC6517560
- OpenAlex
- W2909619217
- Cited by
- 75
- References
- 61
- Citations by year
- 2026: 4 · 2025: 7 · 2024: 9 · 2023: 12 · 2022: 10 · 2021: 18 · 2020: 9 · 2019: 6
- FWCI
- 6.25
- Type
- journal article
- Language
- en
- Open access
- hybrid
- doi.org
- Locations
- The Cerebellum (publishedVersion, cc-by)
- Europe PMC (PubMed Central) (publishedVersion, cc-by)
- PubMed Central (publishedVersion, cc-by)
- PubMed (publishedVersion)
- Institutional Repositories DataBase (IRDB) (submittedVersion, cc-by)
- JAIST Repository (submittedVersion, cc-by)
- Funders
- Japan Society for the Promotion of Science (25430007, 26120005, 16K12476, (Program for Advancing Strategic International Networks to Accelerate the Circulation of Talented Researchers, and Embodied-Brain Systems Science, 14580784, 15016008, 16015212, 21500319 26120003, 24650224)
- Precursory Research for Embryonic Science and Technology
- the Ministry of Education, Culture, Sports, Science and Technology
- NBRP “Japanese Monkeys” through the National BioResource Project
- Kurata Memorial Hitachi Science and Technology Foundation
- Tateishi Science Foundation
- Topics
- Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
- Life Sciences › Neuroscience › Neurology › Vestibular and auditory disorders
- Life Sciences › Neuroscience › Cognitive Neuroscience › Memory and Neural Mechanisms
- Keywords
- cerebellum, forward model, state prediction, mossy fibers, Purkinje cells, dentate nucleus, Kalman filter, monkeys
- MeSH terms
- Animals, Cerebellum, Computer Simulation, Macaca, Male, Models, Neurological, Movement, Psychomotor Performance
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