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General View
Cerebellum (Latin, little brain): only 10 % total volume of the brain but
more than half of all its neurons.
arranged in a highly regular manner as repeating units but with input and
outputs from different parts
similar computational operations
but on different inputs.
the cerebellum is provided with extensive information (40 times more
axons project into the cerebellum than exit from it)
three sections of cerebellum: (i) gray matter: cerebellar cortex (ii) white
matter (iii) 3 deep nucleus: fastigial, interposed, dentate.
the cerebellum is not necessary to basic elements of perception or
movement.
damage to the cerebellum disrupts the spatial accuracy and temporal
coordination of movement. It impairs balance and reduces muscle tone
and motor learning and certain cognitive functions.
General View
The three functional regions of the cerebellum have different inputs and outputs.
Cerebellum as a forward model: Theoretical and neural organization of forward models. a( Theoretical
organization of information processing streams that use forward models for motor control. Motor commands directed
to systems that control movement are also copied to forward models that mimic inputoutput relationships exhibited
by these systems (blue, direct route; red, side-loop). b( Anatomical correlates of this theoretical organization. Note
that the anatomical model contains additional components that exert control over motor control systems (for example,
by modulating rubrospinal circuits) (RN, red nucleus). c( Analogous anatomical model involving prefrontal
interactions. The organization is the same as that in panel b. Information arising in the prefrontal cortex is copied to
the cerebellum in the same way that motor commands are copied from the primary motor cortex to the spinal cord. In
this scheme, cerebellar forward models mimic the inputoutput relationships of prefrontal targets (note that the target
of a prefrontal neuron can be neurons outside the prefrontal cortex, but can also be another prefrontal neuron).
Forward models might therefore be able to mimic information processing that is intrinsic to the prefrontal cortex.
APG model of
the Cerebellum:
2.
3.
Motor
primitives in
the Spinal
Cord
Force fields evoked from microstimulation of the
interneuronal regions of the frog spinal cord. a, The ankle
of spinalized frogs was attached to a force transducer and
fixed at different locations in the workspace of the leg,
indicated by the filled circles in the figure. The same site in
the spinal cord was electrically stimulated with the ankle in
each location, and the resulting isometric force was
measured. b, shows an example of a force field resulting
from the stimulation of one such site in the spinal cord.
Reproduced from Bizzi and others (1991).
Linear
Summation
Principle
Brain
Spinal cord solving
the inverse problem
APPG model:
Figure illustrates the scheme of our proposed model for cerebellar
learning based on APPG modules. Primitive encoder represents the
Granule cells, which provide cerebellum with sparse expansive
encoding of the coefficients of primitives (ci ) from the spinal cord
and motor cortex. A map transforms a low dimensional variable q(t)
into a multi-dimensional control signal; input of this transformation
is the proprioceptive information of the motor apparatus and the
output represents the mossy fiber. This process is performed in state
mapping block shown in Fig. The Cn represents the current
coefficient of motor primitive that corresponds to the efferent copy
of motor information coming from spinal cord to the cerebellum.
Cn+1 represents the information from motor cortex to the cerebellum
(equivalent to next motor coefficient). [q,q]n-1 represents the
proprioceptive information from the limbs (the previous state of the
limb).