Cooperative Control of Limb Movements by the Motor Cortex, Brainstem and

THE MODEL OF SENSORY-MOTOR COORDINATION PROPOSED HERE INVOLVED TWO PRI- MARY PROCESSES THAT ARE BOUND TOGETHER BY POSITIVE FEEDBACK LOOPS. ONE PRIMARY PROCESS LINKS SENSORY TRIGGERS TO POTENTIAL MOVEMENTS. WHILE THIS PROCESS MAY OCCUR AT OTHER SITES, I EMPHASIZE THE ROLE OF COMINATORIAL MAPS IN THE MOTOR CORTEX IN THIS REPORT. COMBINATORIAL MAPS MAKE IT POSSIBLE FOR MANY DIFFERENT STIMULI TO TRIGGER MANY DIFFERENT MOTOR PROGRAMS, AND FOR PREFERENTIAL LINKAGES TO BE ASSOCIATIVELY REINFORCED. A SECOND PRIMARY PROCESS STORES MOTOR PROGRAMS AND REGULATES THEIR EPXRESSION. THE PROGRAMS ARE BELIEVED TO BE STORED IN THE CEREBELLAR CORTEX, IN THE SYNAPTIC WEIGHTS BETWEEN PARALLEL FIBERS AND PURKINJE CELLS. POSITIVE FEEDBACK LOOPS BETWEEN THE MOTOR CORTEX AND THE CEREBELLUM BIND THE COMBINATORIAL MAPS TO THE MOTOR PROGRAMS. THE CAPABILITY FOR SELF- SUSTAINED ACTIVITY IN THESE LOOPS IS THE POSTULATED DRIVING FORCE FOR GENERATING PROGRAMS, WHEREAS INHIBITION FROM CEREBELLAR PURKINJE CELLS IS THE MAIN MECHANISM THAT REGULATES THEIR EXPRESSION. EXECUTION OF A PROGRAM IS TRIGGERED WHEN A SENSORY INPUT SUCCEEDS IN INITIATING REGENERATIVE LOOP ACTIVITY.

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