Recurrent cerebellar architecture solves the motor-error problem.

@article{Porrill2004RecurrentCA,
  title={Recurrent cerebellar architecture solves the motor-error problem.},
  author={John Porrill and Paul Dean and James V. Stone},
  journal={Proceedings. Biological sciences},
  year={2004},
  volume={271 1541},
  pages={
          789-96
        }
}
Current views of cerebellar function have been heavily influenced by the models of Marr and Albus, who suggested that the climbing fibre input to the cerebellum acts as a teaching signal for motor learning. It is commonly assumed that this teaching signal must be motor error (the difference between actual and correct motor command), but this approach requires complex neural structures to estimate unobservable motor error from its observed sensory consequences. We have proposed elsewhere a… CONTINUE READING

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Long time-constant elements in the oculomotor plant of barbiturate-anesthetised primate

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