This review surveys physiological, behavioral, and morphological evidence converging to
the view of the cerebro-cerebellum as loci of internal forward models. The cerebro-
cerebellum, the phylogenetically newest expansion in the cerebellum, receives convergent
inputs from cortical, subcortical, and spinal sources, and is thought to perform the predictive
computation for both motor control, motor learning, and cognitive functions. This predictive
computation is known as an internal forward model. First, we elucidate the theoretical …