Forward Models for Physiological Motor Control
Abstract
Based on theoretical and computational studies it has been suggested that the central nervous system (CNS) internally simulates the behaviour of the motor system in planning, control and learning. Such an internal "forward" model is a representation of the motor system that uses the current state of the motor system and motor command to predict the next state. We will outline the uses of such internal models for solving several fundamental computational problems in motor control and then review the evidence for their existence and use by the CNS. Finally we speculate how the location of an internal model within the CNS may be identified. Copyright 1996 Elsevier Science Ltd.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Forward models can help embodied agents to estimate and adjust the positions of their effectors in the course of action, by providing a representation of the expected position at each moment.
“In particular, forward models can help embodied agents to estimate and adjust the positions of their effectors in the course of action, by providing a representation of the expected position at each moment.”
From Consciousness in Artificial Intelligence: Insights from the Science of Consciousness (2023) · cites this paper as Miall & Wolpert 1996
Brain loops might extend beyond the striatum and include the cerebellum, which has been assumed to encode a large repertoire of internal models required to predict and control action and its timing.
“Brain loops might extend beyond the striatum and include, for example, the cerebellum, which – given its remarkably homogenous microarchitecture – has been often assumed to be able to encode a large repertoire of internal (generative) models required to predict and control action and its timing (Caligiore et al., 2013, Imamizu et al., 2003, Miall and Wolpert, 1996, Wolpert et al., 1998).”
From Active Inference, homeostatic regulation and adaptive behavioural control (2015) · cites this paper as Miall and Wolpert, 1996
A forward internal model predicts the consequences of motor actions given the motor command and current sensory information as inputs.
“With the motor command and current sensory information as its inputs, a forward internal model predicts the consequences of motor actions (Jordan and Rumelhart, 1992; Miall et al., 1993; Miall and Wolpert, 1996).”
From Cerebellum, Predictions and Errors (2019) · cites this paper as Miall and Wolpert, 1996
For an effector forward model, both the prediction and the sensory feedback are expressed in the effector kinematics space.
“For an effector forward model, both the prediction and the sensory feedback are thought to be expressed in the effector kinematics space (Wolpert et al., 1995; Miall and Wolpert, 1996).”
From Cerebellum, Predictions and Errors (2019) · cites this paper as Miall and Wolpert, 1996
Efference copies' primary function is to predict, and often suppress, the sensory consequences of willed movements.
“Their primary function is to predict, and often suppress, the sensory consequences of willed movements.”
From Neurophysiological evidence of efference copies to inner speech (2017) · cites this paper as Wolpert and Miall, 1996
Sensory attenuation is believed to result from an internal forward model (IFM).
“Sensory attenuation is believed to result from the action of an internal forward model, or IFM (Blakemore et al., 2000a; Wolpert and Miall, 1996).”
From Neurophysiological evidence of efference copies to inner speech (2017) · cites this paper as Wolpert and Miall, 1996
According to the IFM account, the sensory consequences of self-generated movements are predicted based on a copy of the outgoing motor command, known as an efference copy.
“According to this account, the sensory consequences of self-generated movements are predicted based on a copy of the outgoing motor command, known as an efference copy.”
From Neurophysiological evidence of efference copies to inner speech (2017) · cites this paper as Wolpert and Miall, 1996
At the lowest level (articulatory planning), the predictor-controller pair functions as described in typical predictive control models of action control.
“In our view, at the lowest level (articulatory planning), the predictor-controller pair functions just as described in typical predictive control models of action control (e.g., Miall and Wolpert, 1996).”
From The ConDialInt Model: Condensation, Dialogality, and Intentionality Dimensions of Inner Speech Within a Hierarchical Predictive Control Framework (2019) · cites this paper as Miall and Wolpert, 1996
The advantages of feedback control at the peripheral level include robustness to noise or incomplete specification of the inverse model.
“The advantages of feedback control at the peripheral (e.g., spinal) level include robustness to noise or incomplete specification of the inverse model (Wolpert and Miall 1996).”
From Action and behavior: a free-energy formulation (2010) · cites this paper as Wolpert and Miall 1996
In conventional motor control theory, there are two models, an inverse model and a forward model.
“In conventional motor control theory (Wolpert and Miall 1996;Todorov and Jordan 2002;Shadmehr and Krakauer 2008), there are two models, an inverse model and a forward model.”
From Action and behavior: a free-energy formulation (2010) · cites this paper as Wolpert and Miall 1996
In modern treatments, efference copy refers to a copy of the signals from the control policy (inverse) model that are passed to the forward model to create corollary discharge signals.
“In modern treatments, efference copy refers to a copy of the signals from the control policy (inverse) model that are passed to the forward model to create corollary discharge signals (predicted sensory consequences of action; see Fig. 16 and Wolpert and Miall 1996).”
From Action and behavior: a free-energy formulation (2010) · cites this paper as Wolpert and Miall 1996
The ability to predict future sensory and embodied states is essential for the efficient control of perception and action.
“The ability to predict future (sensory and embodied) states is essential for the efficient control of perception and action.”
From From cognitivism to autopoiesis: towards a computational framework for the embodied mind (2018) · cites this paper as Miall and Wolpert 1996
Comparator models suggest that action initiation generates a copy of the efferent motor signal, which is passed to a forward model to compute corollary discharge, and then to a comparator that compares the predicted outcome with actual sensory inputs.
“Comparator models suggest that action initiation generates a copy of the efferent motor signal, which is passed to a specialized brain module (a forward model) to compute ‘corollary discharge’; i.e., a predicted sensory state if the motor command were enacted. This signal is then passed to another module (a comparator), which compares the predicted outcome with actual sensory (e.g., proprioceptive”
From From cognitivism to autopoiesis: towards a computational framework for the embodied mind (2018) · cites this paper as Miall and Wolpert 1996
Multiple sclerosis patients with damage to the myelin of the optic nerve typically exhibit conduction delays of around 20 ms in the latency of the P1 component of the visual-evoked potential.
“For example, multiple sclerosis patients with damage to the myelin of the optic nerve typically exhibit conduction delays of around 20 ms in the latency of the P1 component of the visual-evoked potential.[46][47][48]”
From Schizophrenia, myelination, and delayed corollary discharges: a hypothesis (2012) · cites this paper as [47]
Cites
Introduction to the theory of neural computation
Hertz, J., Krogh, A., & Palmer, R. G. (1994) · Neural Networks · doi:10.1016/0893-6080(94)90014-0 · Cited by 6,431 · see citing works
New Results in Linear Filtering and Prediction Theory
Kalman, R. E., & Bucy, R. S. (1961) · Journal of Basic Engineering · doi:10.1115/1.3658902 · Cited by 6,398 · see citing works
Adaptive Mixtures of Local Experts
Jacobs, R. A., Jordan, M. I., Nowlan, S. J., & Hinton, G. E. (1991) · Neural Computation · doi:10.1162/neco.1991.3.1.79 · Cited by 5,384 · see citing works
Model predictive control: Theory and practice—A survey
García, C. E., Prett, D. M., & Morari, M. (1989) · Automatica · doi:10.1016/0005-1098(89)90002-2 · Cited by 5,351 · see citing works
(2005) · Choice Reviews Online · doi:10.5860/choice.43-0626 · Cited by 4,726 · see citing works
Handbook of perception and human performance
Boff, K. R., Kaufman, L., & Thomas, J. P. (1986) · Wiley eBooks · Cited by 4,033 · see citing works
An internal model for sensorimotor integration
Wolpert, D. M., Ghahramani, Z., & Jordan, M. I. (1995) · Science · doi:10.1126/science.7569931 · Cited by 3,553 · see citing works
Self-citationAdaptive filtering prediction and control
Goodwin, G. C., & Sin, K. S. (1984) · Cited by 3,352 · see citing works
Adaptive representation of dynamics during learning of a motor task
Shadmehr, R., & Mussa-Ivaldi, F. (1994) · The Journal of Neuroscience · doi:10.1523/jneurosci.14-05-03208.1994 · Cited by 2,612 · see citing works
A theory of cerebellar function
Albus, J. S. (1971) · Mathematical Biosciences · doi:10.1016/0025-5564(71)90051-4 · Cited by 2,539 · see citing works
Neural basis of the spontaneous optokinetic response produced by visual inversion
Sperry, R. W. (1950) · Journal of Comparative and Physiological Psychology · doi:10.1037/h0055479 · Cited by 1,789 · see citing works
McKerrow, P. J. (1991) · Medical Entomology and Zoology · Cited by 1,720 · see citing works
Johansson, R. S., & Westling, G. (1984) · Experimental Brain Research · doi:10.1007/bf00237997 · Cited by 1,711 · see citing works
A hierarchical neural-network model for control and learning of voluntary movement
Kawato, M., Furukawa, K., & Suzuki, R. (1987) · Biological Cybernetics · doi:10.1007/bf00364149 · Cited by 1,573 · see citing works
Forward models: supervised learning with a distal teacher
Jordan, M. I., & Rumelhart, D. E. (1992) · Cognitive Science · doi:10.1207/s15516709cog1603_1 · Cited by 1,451 · see citing works
Spelke, E. S., Breinlinger, K., Macomber, J., & Jacobson, K. C. (1992) · Psychological Review · doi:10.1037/0033-295x.99.4.605 · Cited by 1,420 · see citing works
Is the cerebellum a Smith predictor?
Miall, R. C., Weir, D. J., Wolpert, D. M., & Stein, J. F. (1993) · Journal of Motor Behavior · doi:10.1080/00222895.1993.9942050 · Cited by 1,071 · see citing works
Self-citationMANUAL MOTOR PERFORMANCE IN A DEAFFERENTED MAN
ROTHWELL, J. C., TRAUB, M. M., DAY, B. L., OBESO, J. A., THOMAS, P. K., & MARSDEN, C. D. (1982) · Brain · doi:10.1093/brain/105.3.515 · Cited by 862 · see citing works
Yue, G. H., & Cole, K. J. (1992) · Journal of Neurophysiology · doi:10.1152/jn.1992.67.5.1114 · Cited by 764 · see citing works
Control of limb dynamics in normal subjects and patients without proprioception
Sainburg, R. L., Ghilardi, M. F., Poizner, H., & Ghez, C. (1995) · Journal of Neurophysiology · doi:10.1152/jn.1995.73.2.820 · Cited by 662 · see citing works
A computational model of four regions of the cerebellum based on feedback-error learning
Kawato, M., & Gomi, H. (1992) · Biological Cybernetics · doi:10.1007/bf00201431 · Cited by 627 · see citing works
Processing of visual feedback in rapid movements.
Keele, S. W., & Posner, M. I. (1968) · Journal of Experimental Psychology · doi:10.1037/h0025754 · Cited by 571 · see citing works
Perceptual adaptation to inverted, reversed, and displaced vision.
Harris, C. S. (1965) · Psychological Review · doi:10.1037/h0022616 · Cited by 570 · see citing works
A model of the smooth pursuit eye movement system
Robinson, D. A., Gordon, J. L., & Gordon, S. E. (1986) · Biological Cybernetics · doi:10.1007/bf00363977 · Cited by 482 · see citing works
Data fusion in robotics and machine intelligence
Abidi, M. A., & Gonzalez, R. C. (1992) · Academic Press Professional, Inc. eBooks · Cited by 444 · see citing works
Ghez, C., Gordon, J., & Ghilardi, M. (1995) · Journal of Neurophysiology · doi:10.1152/jn.1995.73.1.361 · Cited by 412 · see citing works
Inverse-dynamics model eye movement control by Purkinje cells in the cerebellum
Shidara, M., Kawano, K., Gomi, H., & Kawato, M. (1993) · Nature · doi:10.1038/365050a0 · Cited by 393 · see citing works
Modulation of grip force with load force during point-to-point arm movements
Flanagan, J. R., & Wing, A. M. (1993) · Experimental Brain Research · doi:10.1007/bf00229662 · Cited by 383 · see citing works
Inferior olivary neurons in the awake cat: detection of contact and passive body displacement
Gellman, R. S., Gibson, A. R., & Houk, J. C. (1985) · Journal of Neurophysiology · doi:10.1152/jn.1985.54.1.40 · Cited by 358 · see citing works
Impairments of reaching movements in patients without proprioception. I. Spatial errors
Gordon, J., Ghilardi, M. F., & Ghez, C. (1995) · Journal of Neurophysiology · doi:10.1152/jn.1995.73.1.347 · Cited by 344 · see citing works
Roles of Proprioceptive Input in the Programming of Arm TrajectoriesPreprint
Ghez, C. P., Gordon, J., Ghilardi, M. F., Christakos, C. N., & Cooper, S. E. (1990) · Cold Spring Harbor Symposia on Quantitative Biology · doi:10.1101/sqb.1990.055.01.079 · Cited by 342 · see citing works
A Self-Organizing Neural Model of Motor Equivalent Reaching and Tool Use by a Multijoint Arm
Bullock, D., Grossberg, S., & Guenther, F. H. (1993) · Journal of Cognitive Neuroscience · doi:10.1162/jocn.1993.5.4.408 · Cited by 316 · see citing works
Rapid Visual Feedback Processing in Single-Aiming Movements
Zelaznik, H. N., Hawkins, B., & Kisselburgh, L. G. (1983) · Journal of Motor Behavior · doi:10.1080/00222895.1983.10735298 · Cited by 310 · see citing works
LEARNING ARM KINEMATICS AND DYNAMICS
Atkeson, C. G. (1989) · Annual Review of Neuroscience · doi:10.1146/annurev.ne.12.030189.001105 · Cited by 266 · see citing works
Konczak, J., Borutta, M., Topka, H. R., & DICHGANS, J. (1995) · Experimental Brain Research · doi:10.1007/bf00241365 · Cited by 213 · see citing works
A control theoretic approach to manned-vehicle systems analysis
Kleinman, D. L., Baron, S., & Levison, W. H. (1971) · IEEE Transactions on Automatic Control · doi:10.1109/tac.1971.1099842 · Cited by 201 · see citing works
Adaptive feedback control models of the vestibulocerebellum and spinocerebellum
Gomi, H., & Kawato, M. (1992) · Biological Cybernetics · doi:10.1007/bf00201432 · Cited by 193 · see citing works
Andersson, G., & Armstrong, D. M. (1987) · The Journal of Physiology · doi:10.1113/jphysiol.1987.sp016487 · Cited by 190 · see citing works
Knowledge Model for Selecting and Producing Reaching Movements
Rosenbaum, D. Α., Engelbrecht, S. E., Bushe, M. M., & Loukopoulos, L. D. (1993) · Journal of Motor Behavior · doi:10.1080/00222895.1993.9942051 · Cited by 179 · see citing works
Coordinated responses following mechanical perturbation of the arm during prehension
Haggard, P., & Wing, A. M. (1995) · Experimental Brain Research · doi:10.1007/bf00230652 · Cited by 160 · see citing works
A neural network model for arm trajectory formation using forward and inverse dynamics models
Wada, Y., & Kawato, M. (1993) · Neural Networks · doi:10.1016/s0893-6080(09)80003-8 · Cited by 156 · see citing works
Hierarchies of adaptive experts
Jordan, M. I., & Jacobs, R. A. (1991) · Cited by 152 · see citing works
Responses of cerebellar Purkinje cells to slip of a hand-held object
Dugas, C., & Smith, A. M. (1992) · Journal of Neurophysiology · doi:10.1152/jn.1992.67.3.483 · Cited by 141 · see citing works
Constraints on learning new mappings between perceptual dimensions.
Bedford, F. L. (1989) · Journal of Experimental Psychology Human Perception & Performance · doi:10.1037/0096-1523.15.2.232 · Cited by 134 · see citing works
Information about spatial location based on knowledge about efference.
Festinger, L., & Canon, L. K. (1965) · Psychological Review · doi:10.1037/h0022205 · Cited by 134 · see citing works
Imagery and the acquisition of motor skills.
Hall, C. R., Buckolz, E., & Fishburne, G. J. (1992) · PubMed · Cited by 130 · see citing works
Internal models of limb geometry in the control of hand compliance
Lacquaniti, F., Borghese, N. A., & Carrozzo, M. (1992) · Journal of Neuroscience · doi:10.1523/jneurosci.12-05-01750.1992 · Cited by 127 · see citing works
Adaptation to suppression of visual information during catching
Lacquaniti, F., & Maioli, C. (1989) · Journal of Neuroscience · doi:10.1523/jneurosci.09-01-00149.1989 · Cited by 125 · see citing works
INFANT neural controller for adaptive sensory-motor coordination
Kuperstein, M. (1991) · Neural Networks · doi:10.1016/0893-6080(91)90001-l · Cited by 119 · see citing works
Vercher, J., & Gauthier, G. (1992) · Experimental Brain Research · doi:10.1007/bf00230944 · Cited by 118 · see citing works
Dyscoordination of pinch and lift forces during grasp in patients with cerebellar lesions
Mller, F., & DICHGANS, J. (1994) · Experimental Brain Research · doi:10.1007/bf00227341 · Cited by 117 · see citing works
Teasdale, N., Forget, R., Bard, C., et al. (1993) · Acta Psychologica · doi:10.1016/0001-6918(93)90011-f · Cited by 115 · see citing works
Imamizu, H., Uno, Y., & Kawato, M. (1995) · Journal of Experimental Psychology Human Perception & Performance · doi:10.1037//0096-1523.21.5.1174 · Cited by 115 · see citing works
Vercher, J., & Gauthier, G. (1988) · Experimental Brain Research · doi:10.1007/bf00279669 · Cited by 115 · see citing works
Planning and Efferent Components in the Coding of Movement
Kelso, J. A. S. (1977) · Journal of Motor Behavior · doi:10.1080/00222895.1977.10735092 · Cited by 97 · see citing works
Interactions between the eye and hand motor systems: disruptions due to cerebellar dysfunction
van Donkelaar, P., & Lee, R. G. (1994) · Journal of Neurophysiology · doi:10.1152/jn.1994.72.4.1674 · Cited by 85 · see citing works
Espinoza, E., & Smith, A. M. (1990) · Journal of Neurophysiology · doi:10.1152/jn.1990.64.3.698 · Cited by 80 · see citing works
Anticipatory Control of Grip Force in Rapid Arm Movement
Wing, A. M. (1996) · Elsevier eBooks · doi:10.1016/b978-012759440-8/50020-7 · Cited by 73 · see citing works
Vercher, J., Gauthier, G., Guedon, O., et al. (1996) · Journal of Neurophysiology · doi:10.1152/jn.1996.76.2.1133 · Cited by 67 · see citing works
Task-Dependent Changes in Visual Feedback Control: A Frequency Analysis of Human Manual Tracking
Miall, R. C. (1996) · Journal of Motor Behavior · doi:10.1080/00222895.1996.9941739 · Cited by 64 · see citing works
Self-citationRole of proprioceptors in neural control
Hasan, Z. (1992) · Current Opinion in Neurobiology · doi:10.1016/0959-4388(92)90140-g · Cited by 52 · see citing works
Cues and Control Strategies in Visually Guided Tracking
Weir, D. J., Stein, J. F., & Mialt, R. C. (1989) · Journal of Motor Behavior · doi:10.1080/00222895.1989.10735477 · Cited by 44 · see citing works
Haggard, P., Miall, R. C., Wade, D. T., Fowler, S., Richardson, A. J., Anslow, P., & Stein, J. F. (1995) · Journal of Neurology Neurosurgery & Psychiatry · doi:10.1136/jnnp.58.4.433 · Cited by 43 · see citing works
Self-citationProprioceptive guidance of human voluntary wrist movements studied using muscle vibration.
Cody, F. W. J., Schwartz, M., & Smit, G. P. (1990) · The Journal of Physiology · doi:10.1113/jphysiol.1990.sp018181 · Cited by 43 · see citing works
Evidence of a limited visuo-motor memory used in programming wrist movements
Miall, R. C., Haggard, P., & Cole, J. D. (1995) · Experimental Brain Research · doi:10.1007/bf00230047 · Cited by 33 · see citing works
Self-citationCruse, H., & Steinkühler, U. (1993) · Biological Cybernetics · doi:10.1007/bf00203131 · Cited by 33 · see citing works
Response amendments during manual aiming movements to double-step targets
Barrett, N. C., & Glencross, D. J. (1989) · Acta Psychologica · doi:10.1016/0001-6918(89)90021-8 · Cited by 26 · see citing works
Perturbation of precision grip in Friedreich's ataxia and late‐onset cerebellar ataxia
Hermsdöourfer, J., Wessel, K., Mai, N., et al. (1994) · Movement Disorders · doi:10.1002/mds.870090611 · Cited by 24 · see citing works
Measurements of human force control during a constrained arm motion using a force-actuated joystick
McIntyre, J., Gurfinkel, E. V., Липшиц, М. И., et al. (1995) · Journal of Neurophysiology · doi:10.1152/jn.1995.73.3.1201 · Cited by 24 · see citing works
Constraints on learning new mappings between perceptual dimensions.
Bedford, F. L. (1989) · Journal of Experimental Psychology Human Perception & Performance · doi:10.1037//0096-1523.15.2.232 · Cited by 23 · see citing works
Computational Structure of coordinate transformations: A generalization study
Ghahramani, Z., Wolpert, D. M., & Jordan, M. I. (1994) · Cited by 5 · see citing works
Self-citation
Flagged first, then by citations
Cited by
Sorted by citations
The free-energy principle: a unified brain theory?
Friston, K. (2010) · Nature Reviews Neuroscience · doi:10.1038/nrn2787 · Cited by 8,120 · see citing works
Internal models in the cerebellum
Wolpert, D. M., Miall, R. C., & Kawato, M. (1998) · Trends in Cognitive Sciences · doi:10.1016/s1364-6613(98)01221-2 · Cited by 2,469 · see citing works
Self-citationCoding and use of tactile signals from the fingertips in object manipulation tasks
Johansson, R. S., & Flanagan, J. R. (2009) · Nature Reviews Neuroscience · doi:10.1038/nrn2621 · Cited by 2,063 · see citing works
Error Correction, Sensory Prediction, and Adaptation in Motor Control
Shadmehr, R., Smith, M. A., & Krakauer, J. W. (2010) · Annual Review of Neuroscience · doi:10.1146/annurev-neuro-060909-153135 · Cited by 1,869 · see citing works
The emulation theory of representation: Motor control, imagery, and perception
Grush, R. (2004) · Behavioral and Brain Sciences · doi:10.1017/s0140525x04000093 · Cited by 1,387 · see citing works
Forward modeling allows feedback control for fast reaching movements
Desmurget, M., & Grafton, S. (2000) · Trends in Cognitive Sciences · doi:10.1016/s1364-6613(00)01537-0 · Cited by 1,300 · see citing works
A unifying computational framework for motor control and social interaction
Wolpert, D. M., Doya, K., & Kawato, M. (2003) · Philosophical Transactions of the Royal Society of London. Series B: Biological Sciences · doi:10.1098/rstb.2002.1238 · Cited by 1,228 · see citing works
Self-citationPredictive coding: an account of the mirror neuron system
Kilner, J. M., Friston, K. J., & Frith, C. D. (2007) · Cognitive Processing · doi:10.1007/s10339-007-0170-2 · Cited by 1,134 · see citing works
Human volition: towards a neuroscience of will
Haggard, P. (2008) · Nature Reviews Neuroscience · doi:10.1038/nrn2497 · Cited by 1,134 · see citing works
Shared representations between self and other: a social cognitive neuroscience view
Decety, J., & Sommerville, J. A. (2003) · Trends in Cognitive Sciences · doi:10.1016/j.tics.2003.10.004 · Cited by 996 · see citing works
Sensory prediction errors drive cerebellum-dependent adaptation of reaching
Tseng, Y.-W., Diedrichsen, J., Krakauer, J. W., Shadmehr, R., & Bastian, A. J. (2007) · Journal of Neurophysiology · doi:10.1152/jn.00266.2007 · Cited by 883 · see citing works
Abnormalities in the awareness of action.
Blakemore, S.-J., Wolpert, D. M., & Frith, C. D. (2002) · Trends in Cognitive Sciences · doi:10.1016/s1364-6613(02)01907-1 · Cited by 947 · see citing works
Self-citationAction and behavior: a free-energy formulation
Friston, K. J., Daunizeau, J., Kilner, J., & Kiebel, S. J. (2010) · Biological Cybernetics · doi:10.1007/s00422-010-0364-z · Cited by 866 · see citing works
“In conventional motor control theory (Wolpert and Miall 1996; Todorov and Jordan 2002; Shadmehr and Krakauer 2008), there are two models, an inverse model and a forward model.”
BackgroundSomatosensation in social perception
Keysers, C., Kaas, J. H., & Gazzola, V. (2010) · Nature Reviews Neuroscience · doi:10.1038/nrn2833 · Cited by 787 · see citing works
Galea, J. M., Vazquez, A., Pasricha, N., Orban de Xivry, J.-J., & Celnik, P. (2011) · Cerebral Cortex · doi:10.1093/cercor/bhq246 · Cited by 760 · see citing works
O'Reilly, J. X., Beckmann, C. F., Tomassini, V., Ramnani, N., & Johansen-Berg, H. (2010) · Cerebral Cortex · doi:10.1093/cercor/bhp157 · Cited by 738 · see citing works
The DIVA model: A neural theory of speech acquisition and production
Tourville, J. A., & Guenther, F. H. (2011) · Language and Cognitive Processes · doi:10.1080/01690960903498424 · Cited by 748 · see citing works
“The goal of our research programme over the past 16 years has been to improve our understanding of the neural mechanisms that underlie speech motor control.”
Active Inference, homeostatic regulation and adaptive behavioural control
Pezzulo, G., Rigoli, F., & Friston, K. (2015) · Progress in Neurobiology · doi:10.1016/j.pneurobio.2015.09.001 · Cited by 650 · see citing works
“…– given its remarkably homogenous microarchitecture – has been often assumed to be able to encode a large repertoire of internal (generative) models required to predict and control action and its timing (Caligiore et al., 2013; Imamizu et al., 2003; Miall and Wolpert, 1996; Wolpert et al., 1998).”
Eye movements and the control of actions in everyday life
Land, M. F. (2006) · Progress in Retinal and Eye Research · doi:10.1016/j.preteyeres.2006.01.002 · Cited by 667 · see citing works
Brain Circuits for the Internal Monitoring of Movements
Sommer, M. A., & Wurtz, R. H. (2008) · Annual Review of Neuroscience · doi:10.1146/annurev.neuro.31.060407.125627 · Cited by 508 · see citing works
Smith, M. A., & Shadmehr, R. (2005) · Journal of Neurophysiology · doi:10.1152/jn.00943.2004 · Cited by 497 · see citing works
Independence of perceptual and sensorimotor predictions in the size–weight illusion
Flanagan, J. R., & Beltzner, M. A. (2000) · Nature Neuroscience · doi:10.1038/76701 · Cited by 454 · see citing works
Saygin, A. P., Chaminade, T., Ishiguro, H., Driver, J., & Frith, C. (2012) · Social Cognitive and Affective Neuroscience · doi:10.1093/scan/nsr025 · Cited by 452 · see citing works
Persistence of Motor Adaptation During Constrained, Multi-Joint, Arm Movements
Scheidt, R. A., Reinkensmeyer, D. J., Conditt, M. A., Rymer, W. Z., & Mussa-Ivaldi, F. A. (2000) · Journal of Neurophysiology · doi:10.1152/jn.2000.84.2.853 · Cited by 403 · see citing works
Toward a neurobiology of delusions
Corlett, P. R., Taylor, J. R., Wang, X.-J., Fletcher, P. C., & Krystal, J. H. (2010) · Progress in Neurobiology · doi:10.1016/j.pneurobio.2010.06.007 · Cited by 394 · see citing works
From cognitivism to autopoiesis: towards a computational framework for the embodied mind
Allen, M., & Friston, K. J. (2018) · Synthese · doi:10.1007/s11229-016-1288-5 · Cited by 386 · see citing works
Use-dependent and error-based learning of motor behaviors
Diedrichsen, J., White, O., Newman, D., & Lally, N. (2010) · The Journal of Neuroscience · doi:10.1523/jneurosci.5406-09.2010 · Cited by 376 · see citing works
Bugg, J. M., & Crump, M. J. C. (2012) · Frontiers in Psychology · doi:10.3389/fpsyg.2012.00367 · Cited by 344 · see citing works
What is optimal about motor control?
Friston, K. (2011) · Neuron · doi:10.1016/j.neuron.2011.10.018 · Cited by 332 · see citing works
Disruption of state estimation in the human lateral cerebellum
Miall, R. C., Christensen, L. O. D., Cain, O., & Stanley, J. (2007) · PLoS Biology · doi:10.1371/journal.pbio.0050316 · Cited by 338 · see citing works
Self-citationThe self in action: lessons from delusions of control
Frith, C. (2005) · Consciousness and Cognition · doi:10.1016/j.concog.2005.04.002 · Cited by 315 · see citing works
The detection and generation of sequences as a key to cerebellar function: Experiments and theory
Braitenberg, V., Heck, D., & Sultan, F. (1997) · Behavioral and Brain Sciences · doi:10.1017/s0140525x9700143x · Cited by 298 · see citing works
Hierarchical motor control in mammals and machines
Merel, J., Botvinick, M., & Wayne, G. (2019) · Nature Communications · doi:10.1038/s41467-019-13239-6 · Cited by 274 · see citing works
Mental imagery of speech and movement implicates the dynamics of internal forward models
Tian, X. (2010) · Frontiers in Psychology · doi:10.3389/fpsyg.2010.00166 · Cited by 259 · see citing works
“www.frontiersin.org October 2010 | Volume 1 | Article 166 | 1 Original research article published: 21 October 2010 doi: 10.3389/fpsyg.2010.00166 Mental imagery of speech and movement implicates the dynamics of internal forward models”
InfluentialModel-Based and Model-Free Mechanisms of Human Motor Learning
Haith, A. M., & Krakauer, J. W. (2013) · Advances in Experimental Medicine and Biology · doi:10.1007/978-1-4614-5465-6_1 · Cited by 263 · see citing works
The neural basis of hallucinations and delusions
Frith, C. (2004) · Comptes Rendus. Biologies · doi:10.1016/j.crvi.2004.10.012 · Cited by 248 · see citing works
Learning to expect the unexpected: rapid updating in primate cerebellum during voluntary self-motion
Brooks, J. X., Carriot, J., & Cullen, K. E. (2015) · Nature Neuroscience · doi:10.1038/nn.4077 · Cited by 231 · see citing works
Obesity, functional mobility and quality of life
Forhan, M., & Gill, S. V. (2013) · Best Practice & Research Clinical Endocrinology & Metabolism · doi:10.1016/j.beem.2013.01.003 · Cited by 232 · see citing works
Explaining delusions of control: The comparator model 20years on
Frith, C. (2012) · Consciousness and Cognition · doi:10.1016/j.concog.2011.06.010 · Cited by 217 · see citing works
Did I do that? Abnormal predictive processes in schizophrenia when button pressing to deliver a tone
Ford, J. M., Palzes, V. A., Roach, B. J., & Mathalon, D. H. (2014) · Schizophrenia Bulletin · doi:10.1093/schbul/sbt072 · Cited by 210 · see citing works
Cerebellum, Predictions and Errors
Popa, L. S., & Ebner, T. J. (2019) · Frontiers in Cellular Neuroscience · doi:10.3389/fncel.2018.00524 · Cited by 191 · see citing works
The cutaneous contribution to adaptive precision grip
Witney, A. G., Wing, A., Thonnard, J.-L., & Smith, A. M. (2004) · Trends in Neurosciences · doi:10.1016/j.tins.2004.08.006 · Cited by 203 · see citing works
Consciousness in Artificial Intelligence: Insights from the Science of Consciousness
Butlin, P., Long, R., Elmoznino, E., Bengio, Y., Birch, J., Constant, A., Deane, G., Fleming, S. M., Frith, C., Ji, X., et al. (2023) · arXiv · doi:10.48550/arxiv.2308.08708 · Cited by 196 · see citing works
Cerebellar contributions to adaptive control of saccades in humans
Xu-Wilson, M., Chen-Harris, H., Zee, D. S., & Shadmehr, R. (2009) · The Journal of Neuroscience · doi:10.1523/jneurosci.3115-09.2009 · Cited by 190 · see citing works
The role of prediction in social neuroscience
Brown, E. C., & Brüne, M. (2012) · Frontiers in Human Neuroscience · doi:10.3389/fnhum.2012.00147 · Cited by 190 · see citing works
Force field effects on cerebellar Purkinje cell discharge with implications for internal models
Pasalar, S., Roitman, A. V., Durfee, W. K., & Ebner, T. J. (2006) · Nature Neuroscience · doi:10.1038/nn1783 · Cited by 182 · see citing works
Human orientation and movement control in weightless and artificial gravity environments
Lackner, J. R., & DiZio, P. (2000) · Experimental Brain Research · doi:10.1007/s002210050002 · Cited by 181 · see citing works
The Cerebro-Cerebellum as a Locus of Forward Model: A Review
Tanaka, H., Ishikawa, T., Lee, J., & Kakei, S. (2020) · Frontiers in Systems Neuroscience · doi:10.3389/fnsys.2020.00019 · Cited by 155 · see citing works
Frontal lobe and posterior parietal contributions to the cortico-cerebellar system
Ramnani, N. (2012) · The Cerebellum · doi:10.1007/s12311-011-0272-3 · Cited by 156 · see citing works
The somatosensory cortex receives information about motor output
Umeda, T., Isa, T., & Nishimura, Y. (2019) · Science Advances · doi:10.1126/sciadv.aaw5388 · Cited by 133 · see citing works
Troyer, T. W., & Doupe, A. J. (2000) · Journal of Neurophysiology · doi:10.1152/jn.2000.84.3.1204 · Cited by 145 · see citing works
Ouhaz, Z., Fleming, H., & Mitchell, A. S. (2018) · Frontiers in Neuroscience · doi:10.3389/fnins.2018.00033 · Cited by 142 · see citing works
Schizophrenia, myelination, and delayed corollary discharges: a hypothesis
Whitford, T. J., Ford, J. M., Mathalon, D. H., Kubicki, M., & Shenton, M. E. (2012) · Schizophrenia Bulletin · doi:10.1093/schbul/sbq105 · Cited by 140 · see citing works
Cerebellar rTMS disrupts predictive language processing
Lesage, E., Morgan, B. E., Olson, A. C., Meyer, A. S., & Miall, R. C. (2012) · Current Biology · doi:10.1016/j.cub.2012.07.006 · Cited by 141 · see citing works
Self-citationDecoding spoken phonemes from sensorimotor cortex with high-density ECoG grids
Ramsey, N. F., Salari, E., Aarnoutse, E. J., Vansteensel, M. J., Bleichner, M. G., & Freudenburg, Z. V. (2018) · NeuroImage · doi:10.1016/j.neuroimage.2017.10.011 · Cited by 124 · see citing works
Cerebellar contributions to visuomotor adaptation and motor sequence learning: an ALE meta-analysis
Bernard, J. A., & Seidler, R. D. (2013) · Frontiers in Human Neuroscience · doi:10.3389/fnhum.2013.00027 · Cited by 122 · see citing works
Subjective signal strength distinguishes reality from imagination
Dijkstra, N., & Fleming, S. M. (2023) · Nature Communications · doi:10.1038/s41467-023-37322-1 · Cited by 115 · see citing works
Butcher, P. A., Ivry, R. B., Kuo, S.-H., Rydz, D., Krakauer, J. W., & Taylor, J. A. (2017) · Journal of Neurophysiology · doi:10.1152/jn.00451.2017 · Cited by 119 · see citing works
Vocal Responses to Perturbations in Voice Auditory Feedback in Individuals with Parkinson's Disease
Liu, H., Wang, E. Q., Metman, L. V., & Larson, C. R. (2012) · PLoS ONE · doi:10.1371/journal.pone.0033629 · Cited by 114 · see citing works
Anticipating the future: Automatic prediction failures in schizophrenia
Ford, J. M., & Mathalon, D. H. (2012) · International Journal of Psychophysiology · doi:10.1016/j.ijpsycho.2011.09.004 · Cited by 113 · see citing works
Neurophysiological evidence of efference copies to inner speech
Whitford, T. J., Jack, B. N., Pearson, D., Griffiths, O., Luque, D., Harris, A. W., Spencer, K. M., & Le Pelley, M. E. (2017) · eLife · doi:10.7554/elife.28197 · Cited by 108 · see citing works
Grandchamp, R., Rapin, L., Perrone-Bertolotti, M., Pichat, C., Haldin, C., Cousin, E., Lachaux, J.-P., Dohen, M., Perrier, P., Garnier, M., et al. (2019) · Frontiers in Psychology · doi:10.3389/fpsyg.2019.02019 · Cited by 97 · see citing works
Popa, L. S., Hewitt, A. L., & Ebner, T. J. (2012) · The Journal of Neuroscience · doi:10.1523/jneurosci.2151-12.2012 · Cited by 95 · see citing works
“Early concepts focused on closed loop control in which the ongoing motor commands are updated by sensory feedback (Wolpert and Miall, 1996).”
BackgroundInfluentialPalmer, C. E., Davare, M., & Kilner, J. M. (2016) · The Journal of Neuroscience · doi:10.1523/jneurosci.1694-16.2016 · Cited by 96 · see citing works
van Kemenade, B. M., Arikan, B. E., Podranski, K., Steinsträter, O., Kircher, T., & Straube, B. (2019) · Cerebral Cortex · doi:10.1093/cercor/bhy048 · Cited by 85 · see citing works
Losing Ourselves: Active Inference, Depersonalization, and Meditation
Deane, G., Miller, M., & Wilkinson, S. (2020) · Frontiers in Psychology · doi:10.3389/fpsyg.2020.539726 · Cited by 87 · see citing works
Modeling the Role of Sensory Feedback in Speech Motor Control and Learning
Parrell, B., & Houde, J. (2019) · Journal of Speech, Language, and Hearing Research · doi:10.1044/2019_jslhr-s-csmc7-18-0127 · Cited by 75 · see citing works
Assembly and function of spinal circuits for motor control
Catela, C., Shin, M. M., & Dasen, J. S. (2015) · Annual Review of Cell and Developmental Biology · doi:10.1146/annurev-cellbio-100814-125155 · Cited by 77 · see citing works
Neural evidence of the cerebellum as a state predictor
Tanaka, H., Ishikawa, T., & Kakei, S. (2019) · The Cerebellum · doi:10.1007/s12311-018-0996-4 · Cited by 75 · see citing works
Automatic and controlled processing in the corticocerebellar system
Ramnani, N. (2014) · Progress in Brain Research · doi:10.1016/b978-0-444-63356-9.00010-8 · Cited by 70 · see citing works
(2018) · Springer Series on Touch and Haptic Systems · doi:10.1007/978-3-319-58316-7 · Cited by 60 · see citing works
Self awareness and speech processing: an fMRI study
Jardri, R., Pins, D., Bubrovszky, M., Despretz, P., Pruvo, J.-P., Steinling, M., & Thomas, P. (2007) · NeuroImage · doi:10.1016/j.neuroimage.2007.02.002 · Cited by 57 · see citing works
Inner speech is accompanied by a temporally-precise and content-specific corollary discharge
Jack, B. N., Le Pelley, M. E., Han, N., Harris, A. W. F., Spencer, K. M., & Whitford, T. J. (2019) · NeuroImage · doi:10.1016/j.neuroimage.2019.04.038 · Cited by 50 · see citing works
Purkinje cell simple spike discharge encodes error signals consistent with a forward internal model
Popa, L. S., Hewitt, A. L., & Ebner, T. J. (2013) · The Cerebellum · doi:10.1007/s12311-013-0452-4 · Cited by 49 · see citing works
Interoceptive technologies for psychiatric interventions: From diagnosis to clinical applications
Schoeller, F., Horowitz, A. H., Jain, A., Maes, P., Reggente, N., Christov-Moore, L., Pezzulo, G., Barca, L., Allen, M., Salomon, R., et al. (2024) · Neuroscience & Biobehavioral Reviews · doi:10.1016/j.neubiorev.2023.105478 · Cited by 42 · see citing works
Deane, G. (2021) · Neuroscience of Consciousness · doi:10.1093/nc/niab024 · Cited by 38 · see citing works
Dysmetria and errors in predictions: the role of internal forward model
Cabaraux, P., Gandini, J., Kakei, S., Manto, M., Mitoma, H., & Tanaka, H. (2020) · International Journal of Molecular Sciences · doi:10.3390/ijms21186900 · Cited by 40 · see citing works
Popa, L. S., Streng, M. L., & Ebner, T. J. (2017) · eneuro · doi:10.1523/eneuro.0036-17.2017 · Cited by 36 · see citing works
Contribution of the cerebellum to predictive motor control and its evaluation in ataxic patients
Kakei, S., Lee, J., Mitoma, H., Tanaka, H., Manto, M., & Hampe, C. S. (2019) · Frontiers in Human Neuroscience · doi:10.3389/fnhum.2019.00216 · Cited by 34 · see citing works
Nonvisual complex spike signals in the rabbit cerebellar flocculus
Winkelman, B. H. J., Belton, T., Suh, M., Coesmans, M., Morpurgo, M. M., & Simpson, J. I. (2014) · The Journal of Neuroscience · doi:10.1523/jneurosci.3080-13.2014 · Cited by 20 · see citing works
- Authors
- Miall, R. C., & Wolpert, D. M.
- Affiliations
- University of Oxford (GB)
- Corresponding author
- Miall, R.C.
- Venue
- Neural Networks
- Publisher
- Elsevier BV
- Published
- 1996-11
- Volume
- 9
- Issue
- 8
- Pages
- 1265-1279
- ISSN
- 0893-6080 (ISSN-L)
- OpenAlex
- W2081817157
- Cited by
- 2,260
- References
- 71
- Citations by year
- 2026: 72 · 2025: 106 · 2024: 103 · 2023: 96 · 2022: 96 · 2021: 135 · 2020: 119 · 2019: 110 · 2018: 131 · 2017: 107 · 2016: 84 · 2015: 105 · 2014: 104 · 2013: 111 · 2012: 98
- FWCI
- 17.69
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- Neural Networks (publishedVersion)
- PubMed (publishedVersion)
- Cambridge University Engineering Department Publications Database (submittedVersion)
- University of Birmingham Research Portal (University of Birmingham) (submittedVersion)
- Topics
- Life Sciences › Neuroscience › Cognitive Neuroscience › Motor Control and Adaptation
- Life Sciences › Neuroscience › Cognitive Neuroscience › Embodied and Extended Cognition
- Life Sciences › Neuroscience › Cognitive Neuroscience › Memory and Neural Mechanisms
- Keywords
- forward model, internal models, motor control, motor planning, motor learning, central nervous system, computational neuroscience
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
