Figure 7.

Optimal movement preparation via a gated thalamo-cortical loop

(A) Proposed circuit architecture for the optimal movement preparation (cf. text).

(B) Cortical (top) and thalamic (upper middle) activity (ten example neurons), generated torques (lower middle), and prospective motor error (bottom) during the course of movement preparation and execution in the circuit architecture shown in (A). The prospective motor error for the naive strategy is shown as a dotted line as in Figure 4A. All black curves correspond to the same example movement (324° reach), and gray curves show the prospective motor error for the other seven reaches.

(C) Hand trajectories (solid) compared with target trajectories (dashed) for the eight reaches, triggered after 100 ms (left), 200 ms (middle), and 600 ms (right) of motor preparation.

See also Figure S3.