A hierarchical foundation for models of sensorimotor control

@article{Loeb1999AHF,
  title={A hierarchical foundation for models of sensorimotor control},
  author={G. E. Loeb and Ian E. Brown and Ernest J. Cheng},
  journal={Experimental Brain Research},
  year={1999},
  volume={126},
  pages={1-18}
}
Abstract Successful performance of a sensorimotor task arises from the interaction of descending commands from the brain with the intrinsic properties of the lower levels of the sensorimotor system, including the dynamic mechanical properties of muscle, the natural coordinates of somatosensory receptors, the interneuronal circuitry of the spinal cord, and computational noise in these elements. Engineering models of biological motor control often oversimplify or even ignore these lower levels… 

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