Four neural circuit models and their role in the organization of voluntary movement.

Four neural circuit models and their role in the organization of voluntary movement are presented here. These circuits collectively control a ballistic type biped voluntary movement. The structure of each circuit, and its function is discussed. Three of the circuits are central and contribute to the construction of two classes of inputs, analogous to the alpha signals and gamma signals in biological systems. The fourth circuit plays a role in stabilization of the movement, and in compensation for the receptors. Digital computer simulations are undertaken to demonstrate the construction of all the intermediate signals and the response of a two link biped to these efferent signals.