This PDF file includes:

• Fig. S1. Closed-loop sensory-motor circuits were simultaneously recorded from monkeys.
• Fig. S2. Peripheral afferents, M1, and S1 activities encode forelimb joint kinematics.
• Fig. S3. Both MCx and peripheral afferent activities contribute to the decoding of S1 activity.
• Fig. S4. MCx, not peripheral afferent, activity contributes to the decoding of premovement S1 activity.
• Fig. S5. M1 activity is a better predictor of S1 activity than premotor cortex.
• Fig. S6. M1 activity contributes to the decoding of premovement S1 activity.
• Fig. S7. Premovement activity in a core area encodes muscle activity.
• Fig. S8. Premovement activities in M1 and S1 encode EMG burst.
• Fig. S9. Proposed temporal dynamics in which S1 receives information about motor output and somatosensory feedback signals.
• Table S1. Calculation of the joint angles.

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