Figure 5.

Models for voluntary motor control. (A) Forward-model-based control of arm movement by primary motor cortex. (B) Inverse-model-based control. (C) Application of reflex control scheme. Additional abbreviations: ccc, cerebrocerebellar communication loop. CO, control object including segmental circuit and skeletomuscular system; MC, microcomplex, M1, primary motor cortex; IO, inferior olive; Ip, instructed performance; Rp, realized performance; ro, rubroolivary pathway; pRN, parvocellular red nucleus; nr, nucleorubral pathway.