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U.S.A."],"published-print":{"date-parts":[[2024,4,2]]},"abstract":"<jats:p>Optimal feedback control provides an abstract framework describing the architecture of the sensorimotor system without prescribing implementation details such as what coordinate system to use, how feedback is incorporated, or how to accommodate changing task complexity. We investigate how such details are determined by computational and physical constraints by creating a model of the upper limb sensorimotor system in which all connection weights between neurons, feedback, and muscles are unknown. By optimizing these parameters with respect to an objective function, we find that the model exhibits a preference for an intrinsic (joint angle) coordinate representation of inputs and feedback and learns to calculate a weighted feedforward and feedback error. We further show that complex reaches around obstacles can be achieved by augmenting our model with a path-planner based on via points. The path-planner revealed \u201cavoidance\u201d neurons that encode directions to reach around obstacles and \u201cplacement\u201d neurons that make fine-tuned adjustments to via point placement. Our results demonstrate the surprising capability of computationally constrained systems and highlight interesting characteristics of the sensorimotor system.<\/jats:p>","DOI":"10.1073\/pnas.2319313121","type":"journal-article","created":{"date-parts":[[2024,3,29]],"date-time":"2024-03-29T12:32:00Z","timestamp":1711715520000},"update-policy":"https:\/\/doi.org\/10.1073\/pnas.cm10313","source":"Crossref","is-referenced-by-count":4,"title":["Optimal reaching subject to computational and physical constraints reveals structure of the sensorimotor control system"],"prefix":"10.1073","volume":"121","author":[{"given":"Patrick","family":"Greene","sequence":"first","affiliation":[{"name":"Institute for Computational Medicine, The Johns Hopkins University, Baltimore, MD 21218"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Amy J.","family":"Bastian","sequence":"additional","affiliation":[{"name":"Kennedy Krieger Institute, Department of Neurology, The Johns Hopkins University School of Medicine, Baltimore, MD 21205"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4315-8161","authenticated-orcid":false,"given":"Marc H.","family":"Schieber","sequence":"additional","affiliation":[{"name":"Department of Neurology, University of Rochester, Rochester, NY 14642"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sridevi V.","family":"Sarma","sequence":"additional","affiliation":[{"name":"Institute for Computational Medicine, The Johns Hopkins University, Baltimore, MD 21218"},{"name":"Department of Biomedical Engineering, The Johns Hopkins University School of Medicine &amp; Whiting School of Engineering, Baltimore, MD 21218"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"341","published-online":{"date-parts":[[2024,3,28]]},"reference":[{"key":"e_1_3_4_1_2","doi-asserted-by":"publisher","DOI":"10.1038\/nn963"},{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/nrn1427"},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.conb.2015.03.006"},{"key":"e_1_3_4_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.09.020"},{"key":"e_1_3_4_5_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01064.2006"},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2012.10.041"},{"key":"e_1_3_4_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2021.01.049"},{"key":"e_1_3_4_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.celrep.2022.111849"},{"key":"e_1_3_4_9_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-neuro-092619-094115"},{"key":"e_1_3_4_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2010.09.015"},{"key":"e_1_3_4_11_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.285.5436.2136"},{"key":"e_1_3_4_12_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00149.2007"},{"key":"e_1_3_4_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-006-0556-x"},{"key":"e_1_3_4_14_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-006-0818-7"},{"key":"e_1_3_4_15_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1968.31.1.14"},{"key":"e_1_3_4_16_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1980.44.4.773"},{"key":"e_1_3_4_17_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.410103"},{"key":"e_1_3_4_18_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2005.01.027"},{"key":"e_1_3_4_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2011.02.053"},{"key":"e_1_3_4_20_2","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.05-07-01688.1985"},{"key":"e_1_3_4_21_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-003-1799-4"},{"key":"e_1_3_4_22_2","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-006-0617-1"},{"key":"e_1_3_4_23_2","doi-asserted-by":"publisher","DOI":"10.1186\/s42490-019-0022-z"},{"key":"e_1_3_4_24_2","unstructured":"M. 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