Forward modeling allows feedback control for fast reaching movements

“The effectiveness of observational practice for subsequent planning and control of movement reproduction (Desmurget & Grafton, 2000; Elliott et al., 2010; Wolpert et al., 2011) was evident in the movement time data, which indicated both groups significantly improved motor timing performance in the…”

“result of a delayed comparison between the expected performance and the performance during the online correction [47, 48].”

“If there is an unexpected difference (such as a change in voice quality or sensation due to an upper respiratory infection), the motor output changes (Desmurget and Grafton 2000; Hickok 2012; Kryshtopava et al. 2017; Wolpert, Ghahramani, and Jordan 1995).”

“The mechanism of the fast corrective response involves a state estimation process by the internal forward model based on the efference copy (Desmurget & Grafton, 2000; Wolpert & Flanagan, 2001).”

“…copy based on internal forward model, which can estimate the future state by the error signals between the predictive sensory information and actual feedback information, plays an important role in the automatic response (Bridgeman 1995; Desmurget and Grafton 2000; Wolpert and Flanagan 2001).”

“In contrast, compensatory strategies operate using sensory feedback loops to enable corrective responses and adaptability to disturbances (Desmurget & Grafton, 2000).”

“In response to perturbations, the central nervous system (CNS) reacts to fast, directional arm movement or reaching by employing feedforward as anticipatory [1–3] and feedback mechanisms as compensatory postural adjustments [4,5] to maintain and restore equilibrium.”

“3) Layered architecture in sensorimotor control: Human sensorimotor control system is extremely robust [18], although the sensing is distributed, sparse, quantized, noisy and delayed [19], [20]; the computing in the central nervous system is slow; [6]; and the muscle actuation fatigues and”

“This fine-tuning regarding the implementation of the second segment is likely based on a forward model of internal feedback loops, whereby the endpoint of the first segment can be predicted in advance of the termination of the movement (Desmurget & Grafton, 2000).”

“, [44]), and within which posterior parietal cortex serves only to generate desired movement trajectories.”

“Many studies on motor behavior search for the relative contributions and importance of feedforward and feedback commands [39], [40].”

“…1978), and the altered pattern of the wrist acceleration – more numerous acceleration peaks – displaying in patients might also be ascribed to motor program alterations, as early parameters would in principle not benefit from feedback corrections (Desmurget & Grafton, 2000; Haaland et al., 2004).”

“Those may include, for example, the estimated state or estimation error during reaching movements (Desmurget and Grafton, 2000; Wolpert and Ghahramani, 2000; Krigolson and Holroyd, 2006; Shadmehr and Krakauer, 2008).”

“Owing to this metric-dependent projection, saccades seem to have a fine and wide variety of tuning ability (see the review of Hopp and Fuchs, 2004), which has been experimentally shown by Deubel (1987) and theoretically explained by Fujita (2005).”

“2010) or proprioception about joint angles (Feldman 1966)— or on the basis of copies of the motor commands that generated the impulses (efferent feedback) (Desmurget and Grafton 2000; von Holst 1954) In contrast, more often than not, what my health professions education specialist visitors are inquiring about is feedb…”

“It has been suggested as being in the posterior parietal lobe and/or cerebellum [ 3 ].”

“…temporally accurate predictive internal models that simulate the complex dynamic interactions that happen in the musculoskeletal system (including attached artifacts nd the environment) (Desmurget and Grafton, 2000; Doya, 1999; Ito, 2006; Ito, 2008; Kawato and Gomi, 1992; Wolpert and Kawato, 1998).”

“The forward models predict the sensory consequence of motor outputs and are utilized for perception of self-action [81–84], for online motor control [85–87], motor learning [88, 89] and in the identification of behavioral context [90, 91].”

“…0.581in Gutter: 0.747in CUUK929-09 cuuk929/Nijhawan ISBN: 978 0 521 86318 6 October 9, 2009 0:29 9 The utility of visual motion for goal-directed reaching 125 delay – shows that visual information is important in the online control of action even late into the movement (Desmurget & Grafton 2000).”

“However, we clearly do monitor the sensory consequences of our actions as they unfold, and engage in online error correction to ensure that our actions achieve their intended goals (Burnett et al., 1998; Desmurget & Grafton, 2000).”

“…between new BCI mappings and previously learnt internal models of the BCI [77] can drive plasticity within the cerebellar cortex, putatively at the granule cell-Purkinje cell synapse, and recalibrate the internal model for both feedforward and feedback control of cortical dynamics [38, 89, 90].”

“…1950 ; von Holst and Mittelstaedt 1950 ; cf. Weiskrantz et al. 1971 ) to an internal “forward” model, which uses it to generate a prediction of the sensory consequences resulting from the execution of the intended (body) movement (Wolpert and Miall 1996 ; Desmurget and Grafton 2000 ; see Fig.”

“However, the highly similar kinematic profiles between virtual and physical con - ditions observed here suggest that any system delays were negligible in the context of feedforward-dominated pointing tasks which are relatively insensitive to modest visual delays (Desmurget and Grafton 2000).”

“This phenomenon could be attributed to the interplay between feedback and feedforward processes, integral to optimal movement control (Desmurget & Grafton, 2000).”

“…not only major input to the SMA (Akkal et al., 2007), but crucially subserves the temporal prediction of upcoming events (Kotz & Schwartze, 2011), thereby mediating predictive motor control (Pisotta & Molinari, 2014) and enabling smooth temporal motor sequencing (Desmurget & Grafton, 2000).”

“The short response latencies usually observed in control tasks are hardly compatible with the time required to process visual information in reaction-time tasks.(16) As a matter of fact, the feedback loops controlling ongoing movements have been shown to be very fast and automatic.”

“According to previous studies (57, 58), reaching movements can be broadly separated into two components: initiating movements (feed-forward control) and corrective movements (feedback control).”

“…necessary for these perceptual reports, given that this multimodal percept also relies on visual and predictive signals (i.e., prior expectations from the intended aim and the efferent motor command) (Desmurget & Grafton, 2000; Gandevia et al., 2006; Proske & Gandevia, 2012; Wolpert et al., 1995).”

“1986; Prablanc and Martin 1992; Desmurget and Grafton 2000; Saunders and Knill 2003, 2005).”

“…model which suppresses somatosensory feedback when it can be reliably predicted, based on future sensory states of the moving body part to free capacities for efficient information processing (Desmurget and Grafton, 2000; Williams and Chapman, 2002; Bays et al., 2006; Chapman and Beauchamp, 2006).”

“Previous studies have found that efference is used for both early error detection and online corrections (e.g.,Desmurget and Grafton, 2000).”

“…including the multiple process model (MPM; Elliott et al., 2010,), which broadly states that there are multiple forms of visuomotor control that are capable of making online limb adjustments (see also Cluff, Crevecoeur, & Scott, 2015; Desmurget & Grafton, 2000; Smeets, Wijdenes, & Brenner, 2016).”

“In cases of delayed movement outcomes (with respect to movement termination) like in basketball shots, efferent information can even be integrated with incoming sensory information from movement execution to yield a more reliable outcome estimate [2,9,10].”

“Fine motor control requires two types of feedback including intrinsic and extrinsic feedback, extrinsic feedback is primarily visual feedback (Miall 1996; Desmurget and Grafton 2000).”

“…an important source of information in the localization, planning, and execution of a goal-directed reach, most models of sensorimotor control (e.g., Desmurget & Grafton, 2000) have no means to formally account for the changes in sensorimotor control with age in a way that would elicit testable…”

“ongoing limb movements can be made more rapidly (Cluff et al. 2015; Desmurget and Grafton 2000; Scott 2016).”

“For example, increased limb acceleration indicates more ballistic and pre-planned movement, whereas decreased limb acceleration would suggest a more conservative approach with greater reliance on feedback to supervise ongoing action (Desmurget & Grafton, 2000).”

“Assessing the first, movement-related criterion (henceforth, MOV) would involve integrating efferent motor information with proprioceptive feedback about the moving index finger within a control model (Miall and Wolpert, 1996; Desmurget and Grafton, 2000).”

“1. Introduction Human sensorimotor control system is extremely robust (Franklin and Wolpert, 2011), although the sensing is distributed, sparse, quantized, noisy and delayed (Bays and Wolpert, 2007; Desmurget and Grafton, 2000; Sanger and Merzenich, 2000); the computing in the central nervous system is slow (Mohler an…”

“However, there is still a debate going on about whether the CNS explicitly performs inverse dynamics computations or not.”

“Such inverse models are useful in feedforward control systems [16].”

“Processes related to feedforward, predictive control, and visual feedback processing generally operate in these frequency bands (37, 44, 45, 50).”

“The feed forward control is driven mainly by using inverse model generating a motor command on the basis of the desired outcome; and the feedback control becomes active in the latter half of the movement to adjust and end the reaching motion (Desmurget & Grafton, 2000; Osumi et al., 2017).”

“…sensorimotor (Corbacho & Arbib, 1995; Mehta & Schaal, 2002; Wolpert, Ghahramani & Jordan, 1995), and motor (Corbacho & Arbib, 1996; Corbacho, Nishikawa, Weerasuriya, Liaw & Arbib, 2005b; Desmurget & Grafton, 2000; Flanagan & Wing, 1997; Miall & Wolpert, 1996; Shadmer, Smith & Krakauer, 2010).”

“People may use internal predictive models to provide sensory expectations that are used to monitor and control goal-directed actions (Desmurget and Grafton, 2000).”

“…resulting from a movement, represent a forward model of the movement (e.g. Davidson & www.oxfordhandbooks.com/view/10.1093/oxfordhb/9780199735471.001.0001/oxfordhb-9780199735471-e-017?result=1&rskey=77kUoj&print 11/34 Wolpert, 2005; Desmurget & Grafton, 2000; Kawato, 1999; Miall & Wolpert, 1996).”

“Visually guided reaching involves multiple computational steps (Shadmehr and Wise 2005) such as selecting a visual target, moving the eyes to the target, and the hand following the target (Desmurget and Grafton 2000).”

“Rule 4: Human arm motion is planned both in joint space and operational space [19, 20].”

“Current theories in motor control attribute an important role to predictive (feedforward) and reactive (feedback) processes [6,7].”

“The coupled inverse/forward model approach is popular since it extends existing attempts to understand motor learning - see [16], [ 4 ], [8], [3] for details of how brain based motor control might operate.”

“Evidence for internal models in the brain has grown increasingly stronger (e.g., see Desmurget and Grafton 2000; Kawato 1999 for recent reviews).”

“During slower, deliberate movements, the CNS has more time to integrate proprioceptive, visual and auditory feedback information to guide adjustments to locomotor outcomes, relying on pre-programmed motor responses (Crevecoeur and Scott, 2014; Desmurget and Grafton, 2000).”

“In biological systems, theoretical studies suggest that some animals use predictive internal models to mitigate the effect of delays (More and Donelan, 2018; Li et al., 2023; Desmurget and Grafton, 2000).”

“The SMG is recognized as a sensory-motor interface during speech production (Della-Maggiore et al. 2004; Desmurget and Grafton 2000; Tian and Poeppel 2010), facilitating the comparison of feedforward signals from the premotor and inferior frontal cortices with feedback signals from sensory areas…”

“…such as performance monitoring (for an overview, see Botvinick & Braver, 2015; Braver et al., 2014; Kouneiher et al., 2009), and consequently adjustments in cognitive control, guiding behavior, learning, and forward prediction (Desmurget & Grafton, 2000; Maurer et al., 2022; Vesper et al., 2017).”

“In reaching tasks, an abrupt visual shift of the target, i.e., target jump, before or at movement onset can elicit a corrective response with an onset time in kinematics between 100 and 200 ms after the visual shift (Desmurget and Grafton, 2000; Veerman et al., 2008; Gritsenko et al., 2009).”

“If the sensory and predicted feedback match, sensory attenuation occurs (Desmurget & Grafton, 2000; Jordan & Rumelhart, 1992; Welniarz et al., 2021).”

“Forward models are thought to be useful for online control (Miall and Wolpert, 1996; Mehta and Schaal, 2002), robust state estimation (Desmurget and Grafton, 2000), and attenuating self-generated sensory signals (Blakemore et al., 2000; Sawtell, 2017) by predicting the sensory consequences of a…”

“Such a model, elaborating on earlier work (Desmurget and Grafton, 2000; Wolpert et al., 1995; Coles et al., 2001) was also presented by Rodriguez-Fornells et al. (2002, their Fig.”

“As per the integrative model of speech production, a basic motor plan is assembled before movement onset and then executed by a feed-forward controller, but these commands can be adjusted in real time by a feedback controller [32 – 35].”

“Considering the direct role that the cerebellum has on the feedforward and feedback processes involved in upper limb aiming movements (Desmurget and Grafton 2000; Kandel et al. 2000; Elliott et al. 2010), the goal of this study was to examine the impact of SCNP on fast and accurate goal-directed movements involving th…”