Fig. 3.

Conceptual model of sensorimotor neural processing in the spinal cord. Proposed scheme in which sensory inputs from multiple modalities are conveyed in parallel to partially overlapping spinal IN populations. The converging sensory information is processed, and sets of instructive motor commands are generated. These commands diverge to motor modules that generate individual motor actions, which together, form the desired coordinated motor response. We propose that this anatomical and functional structure provides a biological framework to neuronal computations underlying spinal sensorimotor integration.