Abstract
This chapter brings enigmatic connectivity of the cerebellar dentate nucleus (DN) and the cerebellar forward model hypothesis together to demonstrate the cerebrocerebellum as loci of Kalman filters. We start with a brief history of the cerebellar internal model hypothesis. Next we present two lines of new evidence for the forward model hypothesis. First, we show physiological evidence that the cerebellar outputs from DN are predictive for the inputs to the cerebrocerebellum. Second, we introduce an enigmatic MF collateral to DN and demonstrate it is an essential key to the Kalman filter model. We further discuss how the Kalman filter model for the motor cerebrocerebellum could be generalized to non-motor parts as a unifying principle for the diverse functions of the cerebrocerebellum. We conclude that the Kalman filter model also explains how parallel modules in the cerebrocerebellar communication loops are coordinated in a cascadic manner, providing a partial explanation for unity of mind.
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Acknowledgments
We thank Profs. Hiroshi Mitoma and Koji Ito for their valuable comments and discussions.
Support
This work was supported by Grants-in-Aid from the Ministry of Education, Culture, Sports, Science and Technology in Japan (MEXT) (http://www.mext.go.jp/) (no. 26120003, no. 14580784, no. 15016008, no. 16015212, no. 20033029, and no. 21500319 to SK; no. 25430007, no. 26120005, and no. 16 K12476 to HT; no. 21700229 and no. 24650304 to JL; and no. 24650224 to TI), the Japan Science and Technology Agency (A-STEP) to SK (http://www.jst.go.jp/), the Japan Science and Technology Agency (PRESTO: Intelligent Cooperation and Control) (SK), NBRP “Japanese Monkeys” through the National BioResource Project of MEXT, the JSPS Programs (Program for Advancing Strategic International Networks to Accelerate the Circulation of Talented Researchers, and Embodied-Brain Systems Science) (HT), and the Hitachi-Kurata and the Tateishi Science Foundations (HT). This research was also supported by AMED under grant number 16ek0109048h0003 to SK. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.
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Kakei, S., Tanaka, H., Ishikawa, T., Tomatsu, S., Lee, J. (2021). The Input-Output Organization of the Cerebrocerebellum as Kalman Filter. In: Mizusawa, H., Kakei, S. (eds) Cerebellum as a CNS Hub. Contemporary Clinical Neuroscience. Springer, Cham. https://doi.org/10.1007/978-3-030-75817-2_19
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DOI: https://doi.org/10.1007/978-3-030-75817-2_19
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