The cerebellum as computed torque model

P. Patrick van der Smagt, Gerd Hirzinger

Abstract: The authors consider the cerebellum in the vertebrate motor control system. Analyzing the delays in this control loop as well as the complexity of the dynamics of the skeletomuscular system, we find that two well-known interpretations of the function of the cerebellum (that of a Smith predictor, or of an inverse model controller) are insufficient to solve the control problem at hand.