A computational model for the autonomous control loops through the cerebellum, spinal code and muscle

This paper proposes a computational model for the cerebellum and spinal code. The proposed motion control scheme makes it possible to stabilize the posture of hand to the desired equilibrium trajectories. In this model, a motor neuron regulate the rest length of muscle to compensate the changes of equilibrium joint positions caused by the external load and the cerebellum compensates the inertial forces to stabilize the equilibrium position of joints. The asymptotic stability of joint angles to the desired equilibrium joint positions is proven theoretically and the performance of the control model is verified by some simple computer simulations