{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,30]],"date-time":"2026-10-30T15:15:19Z","timestamp":1793373319096,"version":"4.5.0"},"reference-count":112,"publisher":"eLife Sciences Publications, Ltd","license":[{"start":{"date-parts":[[2017,10,18]],"date-time":"2017-10-18T00:00:00Z","timestamp":1508284800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2017,10,18]],"date-time":"2017-10-18T00:00:00Z","timestamp":1508284800000},"content-version":"am","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2017,10,18]],"date-time":"2017-10-18T00:00:00Z","timestamp":1508284800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000055","name":"National Institute on Deafness and Other Communication Disorders","doi-asserted-by":"publisher","award":["NIH R01DC004260"],"award-info":[{"award-number":["NIH R01DC004260"]}],"id":[{"id":"10.13039\/100000055","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"abstract":"<jats:p>Brainstem and cerebellar neurons implement an internal model to accurately estimate self-motion during externally generated (\u2018passive\u2019) movements. However, these neurons show reduced responses during self-generated (\u2018active\u2019) movements, indicating that predicted sensory consequences of motor commands cancel sensory signals. Remarkably, the computational processes underlying sensory prediction during active motion and their relationship to internal model computations during passive movements remain unknown. We construct a Kalman filter that incorporates motor commands into a previously established model of optimal passive self-motion estimation. The simulated sensory error and feedback signals match experimentally measured neuronal responses during active and passive head and trunk rotations and translations. We conclude that a single sensory internal model can combine motor commands with vestibular and proprioceptive signals optimally. Thus, although neurons carrying sensory prediction error or feedback signals show attenuated modulation, the sensory cues and internal model are both engaged and critically important for accurate self-motion estimation during active head movements.<\/jats:p>","DOI":"10.7554\/elife.28074","type":"journal-article","created":{"date-parts":[[2017,10,18]],"date-time":"2017-10-18T08:00:12Z","timestamp":1508313612000},"source":"Crossref","is-referenced-by-count":79,"title":["A unified internal model theory to resolve the paradox of active versus passive self-motion sensation"],"prefix":"10.7554","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9101-2802","authenticated-orcid":true,"given":"Jean","family":"Laurens","sequence":"first","affiliation":[{"name":"Department of Neuroscience, Baylor College of Medicine, Houston, United States"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9650-8962","authenticated-orcid":true,"given":"Dora E","family":"Angelaki","sequence":"additional","affiliation":[{"name":"Department of Neuroscience, Baylor College of Medicine, Houston, United States"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"4374","published-online":{"date-parts":[[2017,10,18]]},"reference":[{"key":"bib1","doi-asserted-by":"publisher","first-page":"129","DOI":"10.1007\/s11332-009-0088-4","article-title":"Figure ice skating induces vestibulo-ocular adaptation specific to required athletic skills","volume":"5","author":"Alpini","year":"2009","journal-title":"Sport Sciences for Health"},{"key":"bib2","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1007\/BF00237185","article-title":"Canal-neck interaction in vestibular nuclear neurons of the cat","volume":"46","author":"Anastasopoulos","year":"1982","journal-title":"Experimental Brain Research"},{"key":"bib3","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1146\/annurev.neuro.31.060407.125555","article-title":"Vestibular system: the many facets of a multimodal sense","volume":"31","author":"Angelaki","year":"2008","journal-title":"Annual Review of Neuroscience"},{"key":"bib4","doi-asserted-by":"crossref","first-page":"1716","DOI":"10.1152\/jn.1995.73.4.1716","article-title":"Lesion of the nodulus and ventral uvula abolish steady-state off-vertical axis otolith response","volume":"73","author":"Angelaki","year":"1995","journal-title":"Journal of Neurophysiology"},{"key":"bib5","doi-asserted-by":"crossref","first-page":"1729","DOI":"10.1152\/jn.1995.73.5.1729","article-title":"Inertial representation of angular motion in the vestibular system of rhesus monkeys. 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