从神经回路到身体力学，整合运动控制的计算模型。
Embodied sensorimotor control: computational modeling of the neural control of movement
- 用低维动态流形描述神经活动如何支持运动规划与执行。
- 基于最优控制理论解释内建模型与反馈在运动中的作用。
- 结合肌肉骨骼动力学，揭示神经群体活动的物理驱动机制。
我们综述了感觉运动控制如何由神经种群交互、最优反馈机制以及身体生物力学共同决定。首先，概述了皮层、皮层下区域与脊髓之间传递感觉运动信号的分布式解剖回路。其次，总结了神经种群活动在运动规划与执行过程中占据低维、动态演变流形的证据。接着，归纳了通过最优控制理论解释运动行为的文献，阐明了内部模型与反馈在运动控制中的作用。最后，近期关于具身感觉运动控制的研究通过显式控制肌肉骨骼动力学，弥补了各框架的空白。文章结尾讨论了开放问题与机遇：多任务与认知丰富行为、多区域回路模型，以及身体与网络模型所需解剖细节层次。整体来看，本综述与最新进展指向对运动神经控制的整合性理解。
原文摘要 · Abstract (English)
We review how sensorimotor control is dictated by interacting neural populations, optimal feedback mechanisms, and the biomechanics of bodies. First, we outline the distributed anatomical loops that shuttle sensorimotor signals between cortex, subcortical regions, and spinal cord. We then summarize evidence that neural population activity occupies low-dimensional, dynamically evolving manifolds during planning and execution of movements. Next, we summarize literature explaining motor behavior through the lens of optimal control theory, which clarifies the role of internal models and feedback during motor control. Finally, recent studies on embodied sensorimotor control address gaps within each framework by aiming to elucidate neural population activity through the explicit control of musculoskeletal dynamics. We close by discussing open problems and opportunities: multi-tasking and cognitively rich behavior, multi-regional circuit models, and the level of anatomical detail needed in body and network models. Together, this review and recent advances point towards reaching an integrative account of the neural control of movement.
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