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Updated: May 27, 2026

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Published on: August 15, 2020
Computational mechanisms of sensorimotor control
David W Franklin1, Daniel M Wolpert
1Computational and Biological Learning Laboratory, Department of Engineering, University of Cambridge, UK. dwf25@cam.ac.uk
Abstract:
In order to generate skilled and efficient actions, the motor system must find solutions to several problems inherent in sensorimotor control, including nonlinearity, nonstationarity, delays, redundancy, uncertainty, and noise. We review these problems and five computational mechanisms that the brain may use to limit their deleterious effects: optimal feedback control, impedance control, predictive control, Bayesian decision theory, and sensorimotor learning. Together, these computational mechanisms allow skilled and fluent sensorimotor behavior.
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