IS THE CEREBELLUM A SMITH PREDICTOR
IS THE CEREBELLUM A SMITH PREDICTOR
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DOI：
10.1080/00222895.1993.9942050
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发表时间：
1993-09-01
影响因子：
1.4
通讯作者：
STEIN, JF
中科院分区：
文献类型：
--
作者：
MIALL, RC;WEIR, DJ;STEIN, JF
电机系统可以使用电机装置的内部预测模型来实现比负反馈更好的控制。一些理论提出，小脑可能形成这些预测性表征。在这篇文章中，我们回顾了这些理论，并试图通过参考一个被称为史密斯预测器的工程控制模型来统一它们。我们认为小脑形成了两种类型的内部模型。一种模型是运动器官（如肢体和肌肉）的正向预测模型，提供对每次运动的感觉结果的快速预测。第二个模型是控制回路中的时间延迟（由于受体和效应器延迟、轴突传导和认知处理延迟）。该模型延迟了快速预测的副本，以便可以将其与来自运动的实际感觉反馈在时间寄存器中进行比较。这种比较的结果既可以用来纠正性能上的错误，也可以作为学习第一个模型的训练信号。我们讨论了小脑可以形成这两种模式的证据，并建议小脑可能至少拥有两个独立的史密斯预测因子。其中一个位于外侧小脑，可以预测视觉、自我中心或周围个人坐标的运动结果。另一个位于中间小脑的区域，将预测运动坐标的结果。从小脑参与非运动控制系统，包括自主神经功能和认知的角度，讨论了Smith预测器理论的推广。
The motor system may use internal predictive models of the motor apparatus to achieve better control than would be possible by negative feedback. Several theories have proposed that the cerebellum may form these predictive representations. In this article, we review these theories and try to unify them by reference to an engineering control model known as a Smith Predictor. We suggest that the cerebellum forms two types of internal model. One model is a forward predictive model of the motor apparatus (e.g., limb and muscle), providing a rapid prediction of the sensory consequences of each movement. The second model is of the time delays in the control loop (due to receptor and effector delays, axonal conductances, and cognitive processing delays). This model delays a copy of the rapid prediction so that it can be compared in temporal register with actual sensory feedback from the movement. The result of this comparison is used both to correct for errors in performance and as a training signal to learn the first model. We discuss evidence that the cerebellum could form both of these models and suggest that the cerebellum may hold at least two separate Smith Predictors. One, in the lateral cerebellum, would predict the movement outcome in visual, egocentric, or peripersonal coordinates. Another, in the intermediate cerebellum, would predict the consequences in motor coordinates. Generalization of the Smith Predictor theory is discussed in light of cerebellar involvement in nonmotor control systems, including autonomic functions and cognition.