Fig. 6.

Areas showing increased activity for the open-loop vs. imagine comparison. Warm colors show the open-loop > imagine contrast, and cool colors show the imagine > open-loop contrast. The SPL and cerebellum also activated to a greater extent during open-loop execution vs. imagery, which suggests that these areas play a role in feedback control even based on proprioceptive feedback alone. The opposite contrast reveals increased activity in the left MFg, pre-SMA, MTg, and dorsal striatum (all similar for imagery vs. closed-loop execution, cool colors in Fig. 4), for imagery (the condition presumably requiring greater reliance on feedforward processes) vs. open-loop execution.