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It is widely accepted that the cerebellum acquires and maintain internal models for motor control. An internal model simulates mapping between a set of causes and effects. There are two candidates of cerebellar internal models, forward models and inverse models. A forward model transforms a motor command into a prediction of the sensory consequences of a movement. In contrast, an inverse model inverts the information flow of the forward model. Despite the clearly different formulations of the two internal models, it is still controversial whether the cerebro-cerebellum, the phylogenetically newer part of the cerebellum, provides inverse models or forward models for voluntary limb movements or other higher brain functions. In this article, we review physiological and morphological evidence that suggests the existence in the cerebro-cerebellum of a forward model for limb movement. We will also discuss how the characteristic input–output organization of the cerebro-cerebellum may contribute to forward models for non-motor higher brain functions.

To examine whether mossy fibers (MFs) in the cerebellar hemisphere show delay activity, we recorded MF activity during a wrist movement task with a random instructed delay period in two monkeys. Among 155 task-related MFs, 70 MFs (45%) demonstrated significant delay activity. Those MFs were widely distributed in the cerebellar hemisphere. Some of the activities were evoked by instruction cue presentation, whereas other activity started in anticipation of the upcoming go signal. For most MFs, the delay activities showed directional tuning. These patterns of the activity were in common with those of neurons in the cerebral motor cortices.

Which brain sites represent the final form of motor commands that encode temporal patterns of muscle activities? Here, we show the possible brain sites which have activity equivalent to the motor commands with functional magnetic resonance imaging (fMRI). We hypothesized that short-temporal patterns of movements or stimuli are reflected in blood-oxygenation-level-dependent (BOLD) responses and we searched for regions representing the response. Participants performed two temporal patterns of tapping and/or listened to the same patterns of auditory stimuli in a 3T fMRI. The patterns were designed to have the same number (11) of events and the same duration, but different temporal distribution of events. The 11 events were divided into two parts (10 repetitive taps and one stand-alone tap) and the interval of the two parts was 3 s. The two patterns had reverse order of the two parts. The results revealed that different temporal patterns of auditory stimuli were represented in different temporal features of BOLD responses in the bilateral auditory cortex, whereas different temporal patterns of tapping were reflected in contralateral primary motor cortex and the ipsilateral anterior cerebellum. In bilateral premotor cortex, supplementary motor area, visual cortex, and posterior cerebellum, task-related BOLD responses were exhibited, but their responses did not reflect the temporal patterns of the movement and/or stimuli. One possible explanation is that the neuronal activities were similar for the two patterns in these regions. The sensitivity of the BOLD response to the temporal patterns reflects local differences in functional contributions to the tasks. The present experimental design and analysis may be useful to reveal particular brain regions that participate in multiple functions.

To investigate whether corticothalamic (CT) neurons in the motor cortex (Mx) receive cerebellar input via the ventroanterior–ventrolateral nucleus of the thalamus (VA–VL), we recorded intracellular potentials from neurons in the Mx of anesthetized cats and examined effects of stimulation of the VA–VL and the brachium conjunctivum on them. After this electrophysiological identification, horseradish peroxide (HRP) was injected iontophoretically into the recorded neurons for morphological analysis. We identified 34 neurons as CT neurons by their antidromic response to stimulation of the VA–VL, of which 13 were layer VI CT neurons and 21 were layer V CT neurons. A majority of the CT neurons of both layers VI and V received monosynaptic excitatory postsynaptic potentials (EPSPs) from the VA–VL and di- or polysynaptic EPSPs from the cerebellum. The laminar distribution and morphological characteristics of single CT neurons receiving cerebellar input were analyzed on 19 HRP-labeled CT neurons. Eight layer V and six layer VI CT neurons were reconstructed from serial sections. All the reconstructed layer VI CT neurons were modified pyramidal neurons whose apical dendrites ended in layer III or V, and all the stained layer V CT neurons were typical pyramidal neurons, although the laminar and tangential distribution of recurrent collaterals of these neurons varied from neuron to neuron.