This is the author’s final version; this article has been accepted for publication in the Journal of Cognitive Neuroscience 1 A Revised Computational Neuroanatomy for Motor Control 2 Shlomi Haar1, Opher Donchin2,3 3 1. Department of BioEngineering, Imperial College London, UK 4 2. Department of Biomedical Engineering, Ben-Gurion University of the Negev, Israel 5 3. Zlotowski Center for Neuroscience, Ben-Gurion University of the Negev, Israel 6 7 Corresponding author: Shlomi Haar (
[email protected]) 8 Imperial College London, London, SW7 2AZ, UK 9 10 Acknowledgements: We would like to thank Ilan Dinstein, Liad Mudrik, Daniel Glaser, Alex Gail, and 11 Reza Shadmehr for helpful discussions about the manuscript. Shlomi Haar is supported by the Royal 12 Society – Kohn International Fellowship (NF170650). Work on this review was partially supported by 13 DFG grant TI-239/16-1. 14 15 Abstract 16 We discuss a new framework for understanding the structure of motor control. Our approach 17 integrates existing models of motor control with the reality of hierarchical cortical processing and the 18 parallel segregated loops that characterize cortical-subcortical connections. We also incorporate the recent 19 claim that cortex functions via predictive representation and optimal information utilization. Our 20 framework assumes each cortical area engaged in motor control generates a predictive model of a different 21 aspect of motor behavior. In maintaining these predictive models, each area interacts with a different part 22 of the cerebellum and basal ganglia. These subcortical areas are thus engaged in domain appropriate 23 system identification and optimization. This refocuses the question of division of function among different 24 cortical areas.